A test method based on the condition simulation and a friction and wear test machine featuring in oscillatory movement were set up for self-lubricating spherical plain bearings (SPB). In the machine the condition parameters such as load, angle and frequency of oscillation and number of test cycles can be properly controlled. The data relating to the tribological properties of the bearing, in terms of friction coefficient, linear wear amount, temperature near friction surface and applied load, can be monitored and recorded simultaneously during test process by a computerized measuring system of the machine. Efforts were made to improve the measurement technology of the friction coefficient in oscillating motion. In result, a well-designed bearing torque mechanism was developed, which could reveal the relation between the friction coefficient and the displacement of oscillating angle in any defined cycle while the curve of friction coefficient vs number of testing cycles was continuously plotted. The tribological properties and service life of four kinds of the bearings, i.e, the sampleⅠ-Ⅳ with different self-lubricating composite liners, including three kinds of polytetrafluoroethylene (PTFE) fiber weave/epoxy resin composite liners and a PTFE plastic/copper grid composite liner, were evaluated by testing, and the wear mechanisms of the liner materials were analyzed. A test method based on the condition simulation and a friction and wear test machine featuring in oscillatory movement were set up for self-cascading plain plain bearings (SPB). In the machine the condition parameters such as load, angle and frequency of oscillation and number of data in to tribological properties of the bearing, in terms of friction coefficient, linear wear amount, temperature near friction surface and applied load, can be monitored and recorded simultaneously in test process by a computerized measuring system of the machine. Efforts were made to improve the measurement technology of the friction coefficient in oscillating motion. In result, a well-designed bearing torque mechanism was developed, which could reveal the relation between the friction coefficient and the displacement of oscillating angle in any defined cycle while the curve of friction coefficient vs number of testing cycles was continuously plotted. The tribological properties and service life of four kinds of the bearings, ie, the sample I-IV with different self-lubricating composite liners, including three kinds of polytetrafluoroethylene (PTFE) fiber weave / epoxy resin composite liners and a PTFE plastic / copper grid composite liner, were evaluated by testing, and the wear mechanisms of the liner materials were analyzed.