A dynamic analysis and friction loss of non-variable swash plate compressor are studied theoretically. Rotating swash plate and reciprocating pistons are modelled kinematically, and forces and torques acting on rotor-bearing system are analyzed. Then, friction losses on 4 roller bearings, 10 sliding parts between swash plate and shoes, and 10 lubricating surfaces between cylinders and pistons are calculated. On each frictional element of sliding surfaces and roller bearings, the same friction loss is obtained, respectively.