The performance of free-breathing polymer electrolyte membrane fuel cell (PEMFC) was studied experimentally and the effect of cathode separator structure on the cell performance was investigated. Cathode separators were used for the cell with $18cm^2$ active area. In channel type, the contact resistance is low, and the nature convection. which is strongly affected by the cross-sectional shape of cathode separator channel, is dominant in a cell performance. The maximum power density with $18cm^2$ active area is $105mW/cm^2$ using the 10mm depth and 2mm width channel. A computational analysis was optimum structure of free-breathing channel type PEMFC for robotic application.