Abstract: To simulate the landing attitude of the lunar spacecraft on the ground for verifying the performances of the sampling arm, an attitude simulator of hybrid mechanisms is developed, combined with a lift platform and a parallel attitude adjusting platform. It is validated by tests to show that the lift platform is capable of adjusting the height in a range of 450~900 mm; while the parallel attitude adjusting platform enjoys a precision better than 0.1°, with no structural interference at a pitch angle and the same roll angle between -20° and 20°. This simulator is successfully applied in the ground experiment of the lunar surface sampling arm of the Chang’e-5 spacecraft. The type of the simulator also offers a new approach for designing the similar ground experiment equipment for spacecraft.