Aiming at the severe vertical and pitching vibration of shearer in actual working conditions, the vertical-pitch coupled dynamics model of shearer with 13 degrees of freedom is established using multi-body dynamics theory. Based on the theories of elasticity, Hertz contact and collision dynamics, the connection stiffness model of traction part with rocker arm in existence of clearance and shearer body, the support stiffness models for the guide shoe and for the smooth shoe and the stiffness characteristics model of the rocker arm were constructed. Taking into account the convergence of solution process and the reliability of results, a modified drum load was proposed as the external excitation of the system and the dynamic characteristics of key parts of shearer under different working conditions were analyzed. The numerical model was validated against the vibration responses of a shearer and its critical components under different operating conditions obtained from a mechanical test.The research results provide theoretical basis for the structure optimization and process parameter optimization of the shearer.