The objective was to determine the durability of pins and sleeves used in constructing a cycloidal gear. The methods used were based on a comparative analysis of selected macro photos of their surfaces and representative surface profiles recorded before and after the bench tests and the Ra and Rz surface roughness values determined on their basis. Before and after the bench tests, the weight of each sleeve and pin was measured, their surface profiles were recorded and micro photos of these surfaces were taken. Based on each recorded surface profile, the roughness parameters Ra and Rz were determined. The advantages of using steel sleeves in the cycloidal drive structure, increasing its durability, have been demonstrated by the low mass wear of the sleeves and the low surface roughness parameters Ra and Rz. It was shown that the appropriate accuracy of the pins and sleeves is necessary