For the study of joint characteristics of the real variable stator vane (VSV) mechanism, the dry friction properties of joint materials must be taken into account. In this paper, a micro hybrid contact force model considering the friction characteristics of real revolute joint materials is proposed, and then it is utilized for the dynamic analysis of a principle-level VSV mechanism test rig, including the dry friction rotary pair, designed based on the similitude scaling theory. For the tribological characteristics of real materials, the friction tests and the vibration tests induced by the friction process are carried out. Then the friction coefficient values obtained from the test are embedded into the contact force model considering friction factors and compared with several other macro contact force models. The accuracy of the hybrid model is verified through a one-shot contact-impact simulation. Finally, the hybrid contact force model is used to analyze the influence of different driving methods on the dynamic characteristics of the system. The results showed that the driving method of constant speed has good stability and is a good recommendation for engineering applications.