Abstract: In order to save energy and reduce cutting resistance in the process of vibratory excavating for rock and soil, the impacts of vibration frequency, amplitude and inserting velocity on vibratory excavating resistance from rock and soil were analyzed. Based on the method for constructing a fuzzy set by using clear sets, a soft-sensing model on vibration cutting resistance from rock and soil was brought up by using of the vibration frequency, amplitude and inserting velocity as accessorial parameters. The application results revealed that the soft sensing model was of much high modeling precision and generalization capability and its most train relative error was about 0.67%, its least test relative error was about -0.4%. And the soft-sensing model is very useful for measurement of vibration cutting resistance from rock and soil quickly and precisely.