To improve the reproducing performance of the earthquake records using the shaking table facility with over constraints of multiple actuators，the kinetic model and the control system of the shaking table are established. Based on the small scaled shaking table test，the verification and validation of a three dimensional six degrees of freedom shaking table system driven by eight actuators are performed，where positive and inverse kinematics transformation algorithms is adopted for dynamic decoupling in theory.Based on the nearly real-time storage and reading capacity of the reflex shared memory card，the hardware platform composed with the decentralized control system is constructed using the real-time controller，SpeedGoat and data acquisition system. Then，the decoupling control method is tested with the SpeedGoat bypassing the controller，which proved the feasibility and reliability of the proposed control method. It is validated that the decoupling algorithm of this mechanism is fast with small computational cost，and it can be further developed for more complex control method with versatile functions. The hardware platform is more universal and lays the foundation for subsequent shaking table test and control algorithm development.