The present invention relates to a simulation device having a replaceable sensory module, which comprises: a first platform for performing a translational motion with reference to a first three-dimensional coordinate axis; a second platform which is coupled to the first platform and performs a rotational motion with reference to at least one axis among second three-dimensional coordinate axes; and a sensory module coupled to the second platform and arranged to support a user to enable the user to sense a motion provided by the first and second platforms.