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In pursuit of design solutions that reduce energy loss and improve wear resistance for the piston–cylinder interface in an axial piston motor, a fluid-structure interaction numerical model and a new test rig of the friction force of the piston–cylinder pair are developed to achieve the analysis and design of the micro-geometric tapered-shape surface of a piston bore. The piston bore with the tapered-shape surface axial distribution length ratio of 49.44 % of the overall length is found to be the relatively optimized one. Furthermore, how the shaft speed, load pressure, and swash plate angle influence the performance of the two-type interface is analyzed. Numerical analysis results show that, compared with the traditional cylindrical piston bore design, the piston–cylinder interface with the optimized tapered-shape piston bore in the axial piston motor can achieve a significant reduction in leakage flow and friction force, and the experimental results are consistent with the simulation results. [ABSTRACT FROM AUTHOR]