With the engineering background of the Mars vehicle sampling manipulator, the use of a new type involute spherical gear transmission and flexible arm with multiple degrees of freedom was proposed. The flexible arm is composed of a drive unit, a steering unit, the arms unit and the terminal execution unit. The unit consisted of five arms of the spherical gear series, steering the unit consists of two thrust rod and spherical pair, at the end of the execution unit for the sample clamping actuator. The flexible arm adopted the wireless control mode, and realized the full range of swing, with light weight, exercise flexibility.