To　achieve　high-efficiency　drilling　in　hard　formations,　the　rotary　percussive　drilling　tool　was　designed　to　improve　rock-breaking　efficiency.　Currently,　few　studies　are　conducted　to　analyze　the　relationship　between　the　percussion　parameters　and　rock　breaking　efficiency,　considering　the　dynamic　characteristics　of　rock　during　rock　breaking.　According　to　this　situation,　to　quantify　the　influence　of　different　percussion　parameters　on　the　rockbreaking　efficiency,　a　series　of　dynamic　experiments　on　hard　rock　and　numerical　simulations　were　carried　out.　Orthogonal　experiments　of　split　Hopkinson　pressure　bar　(SHPB)　device　were　conducted　to　analyze　13　parameters　of　the　Riedel　Hiermaier　Thoma　(RHT)　material　model.　A　polycrystalline　diamond　compact　(PDC)　cutter　was　selected　as　the　research　object,　and　a　corresponding　numerical　model　was　established,　considering　the　actual　size　of　the　drilling　teeth　and　the　load　transmitted　to　the　formation.　Subsequently,　the　numerical　simulation　results　of　the　SHPB　test　and　cutting　experiment　were　verified　using　the　physical　model.　A　sensitivity　analysis　was　carried　out　to　analyze　the　effect　of　different　factors,　including　dynamic　amplitude,　frequency,　and　waveform,　on　the　penetration　depth　and　eroded　volume　fraction　of　formation.　The　results　proved　that　rotary　percussion　drilling　increased　the　penetration　depth　and　eroded　volume　fraction　of　hard　rock.　The　rock-breaking　efficiency　of　the　square　wave　was　more　obvious　than　that　of　the　triangular　and　sine　waves.　Increasing　the　dynamic　to　static　load　ratio　was　beneficial　for　increasing　the　penetration　depth　and　eroded　volume　fraction　of　formation.　When　the　frequency　increased,　the　cutting　section　became　smoother,　and　the　cuttings　were　finer,　which　was　beneficial　in　cleaning　the　borehole.