The friction behavior of cylinder seal greatly affects the dynamic position accuracy of the cylinder execution terminal under hydrothermal aging. So, the hydrothermal aging test, friction test, tensile and compression test, topography analysis and infrared spectroscopy analysis, and multiscale simulation were carried out for studying the effect of the hydrothermal aging on the friction performance of cylinder seal. It was found that when the aging temperature increases from 40 to 80°C, the dynamic friction forces of the cylinder seals increase by more than 15%; the friction force increases with the increasement of the initial mechanical stress. Aging makes rubber to be brittle and more cavities on the fracture surface and reduces the fractured activation energy of the nitrile rubber molecular chain.

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The tribological characteristics of the cylinder directly affect the operation accuracy of the pneumatic servo system. However, the geometric error has a significant effect on its tribological behavior and the related research is insufficient. Thus, the dynamic friction process of rubber seals has been investigated considering the influence of geometric errors. Firstly, based on the self-made friction test platform, the friction force of the rubber seals was studied and the influence law of geometric error on the contact area of the rubber seal ring was revealed. Secondly, the numerical model of the friction and contact of the rubber seals for the cylinder segment was developed by using the finite element simulation method and the influence laws of machining errors, such as roundness and straightness on the friction characteristics, were revealed. Finally, synergy effects of roundness and straightness in the friction behavior of rubber seals considering geometric errors was investigated, which lays a foundation for the accurate prediction of cylinder dynamic mechanical properties.

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