Abstract: 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.