A wear tester was developed. MC PA (nylon) filled with MoS2 and PU (polyurethane) were used as the material of the rubber wheel of roller guide shoes. Their wear performances was investigated with the tester. The results show that the wear rate of MC PA increases firstly and then decreases with increasing load, and reverses with increasing velocity. The wear rate of PU decreases firstly and then increases with increasing velocity. In addition, the main wear mechanisms of PU are plough wear and abrasive wear at the low load (200N). At the loads of 200N~500N, the main wear form of MC PA is the adhesive wear. Adhesive wear is the main mechanism of MC PA at the low velocity (3m/s). Due to inner heat accumulation by friction, squama-peering occurs on MC PA surface at the high velocity (8m/s). The dominant wear mechanisms of PU are abrasive wear and fatigue pitting. And the main reason of PU’s failure is the interior heat accumulation caused by friction.