Abstract: In order to study the vibration characteristics of the full hydraulic drilling rig in underground coal mine and guide the optimization design and condition monitoring of the drilling rig, the ZDY6500LQ full hydraulic power head drilling rig was taken as the study object to carry out vibration measurement and analysis. According to the working principle of the drilling rig, the main exciting vibration sources were obtained. Taking the low-speed and high-torque operation condition as an example, the exciting vibration frequencies of the main components in this condition were calculated. Based on the principle of vibration measurement, the measurement scheme was determined, and the vibration measurement system was built combined with the comprehensive performance measurement platform of drilling rig. Vibration measurements were carried out at eight main positions of the drilling rig under three working conditions: no-load, low-speed and high-torque, and high-speed and low-torque. The frequency domain analysis method was used to transform the measurement data into the corresponding frequency spectrum, and the vibration characteristics of the drilling rig caused by the main excitation sources under the condition of low-speed and high-torque were analyzed. Using the 1/3 octave frequency range method, the total vibration at eight measuring points of the drilling rig under three working conditions and the variation laws of root mean square value of acceleration in front and back, left and right, up and down directions were compared and analyzed. The study results showed that under the condition of low-speed and high-torque, the power head reducer and the plunger pump were the largest excitation sources. When the exciting vibration frequency was higher than 100 Hz, it had a great impact on the vibration of the drilling rig. At the position of power head, the total vibration of reducer box under low-speed and high-torque load was reduced by 3.11%-7.27% compared with no-load, but the total vibration under high-speed and low-torque condition was increased by 5-6 times compared with no-load. Except for the power head, the vibration of each measuring point of the drilling rig under no-load condition was the smallest, the vibration of supporting plate, guide rail and clamping plate was positively correlated with the load, and the total vibration under low-speed and high-torque condition was 2-5 times that under no-load condition. Under the main condition of low-speed and high-torque, the effective power of the whole rig was greater than 50%, the energy consumption is relatively low. The study results provided a reference for optimizing the structure of drilling rig and improving the safety and reliability of drilling construction.