In order to reduce the difficulty of adjusting the flight control algorithm of unmanned aerial vehicles, ground test equipment is needed to lift and limit its movement. Therefore, a 4-DOF motion platform driven by ropes and a leading screw is proposed. The vertical linear motion of the platform is provided by the motor-driven lead screw, and the motions in three rotation directions are driven by four motors pulling the ropes. In order to realize the position control of the platform, the dynamic model of the platform is established. Due to the different dynamic characteristics of the platform in each direction, the attitude compensation method realized by the fuzzy controller is used to improve the tracking performance. The simulation results show that in each movement direction, the settling time is less than 0.2 seconds and the position tracking error is zero. So, the system has the advantages of fast response, strong anti-interference ability, and high positioning accuracy. It can assist in the adjustment of a copter’s control system and has great application significance.