The invention provides a low-friction air cylinder with pre-tightening type piezoelectric stacks making a piston rod sleeve do high-frequency torsional vibration. The low-friction air cylinder with the pre-tightening type piezoelectric stacks making the piston rod sleeve do high-frequency torsional vibration comprises a cylinder barrel and a piston rod and further comprises a sleeve. The piston rod penetrates the sleeve to be connected with a piston. The multiple piezoelectric stacks are evenly distributed between the sleeve and the piston, and high-frequency circumferential vibration of the sleeve is achieved by controlling on-off of the piezoelectric stacks. The sleeve comprises a sleeve body, supporting pillars and a flange. The sleeve body and the flange are connected through the multiple supporting pillars which are evenly distributed. The flange is connected with the piston, and the piston rod penetrates the sleeve body and the flange to be connected with the piston. The piezoelectric stacks are installed on the supporting pillars. Multiple piezoelectric stack installation seats are evenly distributed and installed on the flange, and the multiple piezoelectric stacks are in one-to-one correspondence with the multiple supporting pillars. By means of the low-friction air cylinder with the pre-tightening type piezoelectric stacks making the piston rod sleeve do high-frequency torsional vibration, friction force between the sleeve and a front end cover friction pair can be effectively lowered under the ultrasonic resonance state. The low-friction air cylinder has the beneficial effects that the structure is simple, the service life is long, output force is large, adaptability is high, vibration is low, and pollution is avoided.