The invention provides a step force generating device for dynamic calibration of a
force sensor, wherein the step force generating device is suitable for dynamic calibration experiment of a
force sensor having an irregular tool structure of a load terminal or needing to carry out loading of a plurality of directive forces / torques. The step force generating device comprises a calibration table, a directional loading
assembly, a steel force transmission wire, a force source, a
pulley suspension
system, an
impact shearing device and a step
edge detection circuit. A stable load is applied to a
force sensor by using the directional loading
assembly based on steel wire force transmission; and the steel force transmission wire is impacted and sheared suddenly to carry out step unloading on the force sensor to realize negative step excitation on the force sensor. The
impact shearing device uses a high-speed and large-
impact-force impact cylinder as an impact execution mechanism to extend a dynamic calibration frequency and a load range of the force sensor. With cooperation of an impact
gasket block, the disturbance during the impact shearing process can be suppressed, so that the dynamic calibration precision can be improved. The step
edge detection circuit obtains step edge
time based on starting steel force transmission wire
contact time by a detection impact head and a steel force transmission wire shearing time.