By systematically considering the merits and drawbacks of driving devices with small tooth number difference,such as planetary reducer and harmonic reducer,effectively combining the new drive style with high precision and efficiency,precise gear transmission and bearings are integrated as new friction pairs and been studied on the integral structure and lubrication design in this paper.The mathematical model has been established to optimize the structure design of bearing-gear,then friction mechanism and friction moment of bearing-gear has been researched.Under this condition,we have developed high accuracy,high reliability,long service life and high performance space friction pairs that integrate the solid lubrication technique with Nano-surfaee-engineering.Accordingly,midst links in driving chain are reduced,which makes driving chain a compact system with small volume,high drive efficiency,small friction-wear and low vibration noise.The conclusion was made after experimental study on solid lubrication of the bearing-gear that solid lubricating bearing-gear must ran-in before being used in order to improve its friction performance.