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In this study, surface texturing was considered to solve the problem of the frictional surface of the rotary vane actuator end seal having difficulty in generating hydrodynamic lubrication. However, the current studies mostly set the minimum oil film thickness as a constant value, which could not reflect the real situation. A lubrication model for textured surfaces under different lubrication regimes was first established in this study based on the mean Reynolds equation and boundary lubrication theory. The model just required assuming the initial value of the minimum oil film thickness, and then the value was automatically corrected by the program in the calculation until the result converged. The rationality of the model was verified by comparing the model results with the friction experimental results. Subsequently, the trend of the friction coefficients for circular and square textures at different speeds and area ratios was analysed to investigate the effects of texture shape, area ratio and speed on the friction of the textured interface under this model.

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