自主设计了一种关节轴承衬垫摩擦性能试验机，用于测试关节轴承衬垫在承受正向压力作用下的摩擦性能。首先介绍了该试验机的主要结构；然后建立了该试验机系统的数学模型，进行了运动学分析，确定了正向加载力与衬垫摩擦力之间的关系，得到了准确描述正向加载力和衬垫摩擦力的计算公式；最后采用多体动力学软件Recurdyn对该试验机进行动力学分析，得到了随着往复摩擦作动器的运动，衬垫摩擦力、往复运动传感器测量值、正向加载传感器测量值的变化。本工作为关节轴承衬垫摩擦性能试验机的研发提供了技术支持。

A joint bearing liner friction performance testing machine which was mainly used to measure the friction performance of the joint bearing liners under positive pressure was independently designed. The main structure of the testing machine was introduced, the mathematical model of the testing machine system was established, and kinematics analysis was carried to determine the relationship between the positive loading force and the liner frictional force and obtain the formula for accurately calculating the positive loading force and the liner frictional force. The dynamics analysis of the testing machine was carried out by multibody dynamics software Recurdyn, and the change of the liner frictional force, reciprocating motion sensor indication and positive loading sensor indication with the movement of the reciprocating friction actuator was obtained. This work provided a technical support for the research and development of the joint bearing liner friction performance testing machine.