The　rotary　percussive　drilling　tool　was　designed　to　improve　rock-breaking　efficiency,　and　the　tool’s　cyclic　frequency　and　stress-wave　frequency　are　the　key　influencing　factors　on　the　rate　of　penetration,　but　the　correlative　research　reports　are　few.　In　view　of　this　situation,　the　cyclic　frequency　of　the　rotary　percussion　drilling　tool　and　the　frequency　of　stress　waves　generated　during　impact　were　measured.　A　numerical　model　of　polycrystalline　diamond　compact　(PDC)　cutter　cutting　hard　rock　was　established,　and　the　measured　frequency　parameters　were　imported　into　the　numerical　model.　The　effects　of　cyclic　frequency　and　stress-wave　frequency　on　the　penetration　depth,　rock　breaking　volume,　and　rock　debris　size　were　studied.　The　finding　demonstrated　that　the　average　penetration　depth　increased　with　the　increase　of　cyclic　frequency,　and　decreased　with　the　rise　in　stress　wave　frequency.　When　the　two　parameters　were　simultaneously　high,　it　was　conducive　to　generating　smaller　rock　cuttings　and　wellbore　cleaning.　When　the　cyclic　frequency　was　high　and　the　stress　wave　frequency　was　low,　the　effect　on　the　drilling　tooth　penetration　was　the　best.　The　research　results　can　provide　a　practical　reference　for　optimizing　the　structure　of　rotary　impact　drilling　tools　and　improving　the　penetration　rate.　©　2023　Taylor　&　Francis　Group,　LLC.