The test fixture of wear with four axes is developed. The movement at each axis is independent based on analysis of movement degrees of freedom (DOF) at each axis. The relationship of wear experiment for ball joints at the road and test equipment with remote parameter control technology (RPC) is presented. The multi-axis load spectrum edition method based on wavelet transformation is applied to the load spectrum edition of the four-axis load spectrum. One ball joint is used to measure the wear characteristics using the developed test fixture and the RPC technologies with the edited load spectrum at the proving ground. The wear performances of the ball joint before and after experiment are compared and analyzed. It is shown that the developed test fixture and the proposed test procedures can be used for accelerating the wear test of the ball joint with the equipment at the lab. The analytical and design method for the developed test fixture can be used for designing other test fixtures with multi-axis loadings.