Is it "normal" for a vacuum cleaner to trigger an arc fault breaker?
The arc fault breaker detects arcing between wires in appliance cords or house wiring which could cause fires.  Unfortunately, such similar arcing also occurs in electric motors as a part of normal operation.  The Arc Fault breakers are supposed know the difference between the two, but often trip anyway.  In my experience, they trip most often when the vacuum turns on or off.  

The vacuum tripping the arc fault breaker, by itself, is not an indication of an electrical issue.