This study developed a novel measurement system for the friction force characteristics of pneumatic cylinders. The dynamic characteristics of pneumatic cylinder are affected by guide seal, piston seal, grease and surface of cylinder bore. In seeking to improve the friction force characteristics of pneumatic cylinders and to clarify the friction phenomenon of the pneumatic cylinders, this study describes friction force measurement tests to measure the friction force of pneumatic cylinder, under both dry and lubricated conditions. Experimental equipments are designed to assess the effect of seals and lubrications in pneumatic cylinder, where the velocity and pressure of the driving cylinder are controlled. Measurements of friction force are shown for velocities of up to 200 mm/s. This paper provides an easy and accurate measurement system to analyze the friction characteristic of pneumatic cylinder. The data obtained will be useful for developing a suitable friction model, and the experimental apparatus will facilitate the study of the effects of different types of seals and lubricants on friction force.
