help required in the design of this tool.. or do you know of one already made?

[Frank S]

MY first thought was to knurl the surface of the cylinder. My second thought would be to apply belt dressing like that used in old line shaft machine shops with flat belts the belt dressing could be continuously applied in very small amounts by thinning it and forcing it through a mastic type spray nozzle. any grit or friction material you apply would eventually have to be replenished, plus the grit possibly could cause wear to what ever you are trying to drive.
Not knowing the diameters and lengths of the device you are making or already have made it is impossible to even begin to calculate the coefficient of friction for the given surface area. nor is there any data of the type of bearings your are using in your cylinders that may be creating rolling resistance creating what many call stiction.