With an analysis of the main reasons for producing flat wheel, this paper discusses some on-line automatic detection methods in the world, their respective merits and demerits, holds that the accelerating detection is a matured technology and shall be widely adopted; while the image detection shall be the future development for the on-line automatic detection.

Six-axis accelerometer is used as the important key element for detecting and control in the field of navigation、military affairs and robotic etc.

Six-axis accelerometer is a kind of inertial sensor getting kinetic parameters, applied in robots to realize dynamic and stable grasping, Aiming at few researches on six-axis accelerometer at home and abroad, this thesis presented a process of constructing parallel framework and a method of designing six-axis accelerometer’s elastic body by means of existing theory of parallel machine.

Applying in manipulator to realize dynamic and stable grasping, six-axis accelerometer is a kind of inertial sensors getting kinetic parameters in the field of robots.

In this dissertation, control programming is presented to a new redundant activate parallel mechanism with 3-2-1 structure and studied in many fields, such as kinematics, dynamic simulation,design of 6-axis acceleration sensor, acceleration measuring plan of flatform, closed loop control system based on 6-axis acceleration sensor and so on.

The paper presented a new 6-axis acceleration sensor based on Stewart platform.