Abstract: The existing sampling devices for lunar regolith are of a single working mode, and difficult to adapt to the diverse geological conditions of the moon. Therefore, a multi-mode lunar soil coring robot is innovatively designed, which integrates 4 coring modes: in-line, impact-through, single-rotation and rotary-impact, and can be freely switched according to the geological conditions of the lunar surface. Firstly, the overall structure of the robot is designed and laid out, then the impact, rotation, coring, lifting and movable clamping units are analyzed and optimized, and finally the performance experiments with each coring mode are carried out. The results show that the robot can freely switch among 4 modes. In the impact penetration mode, the coring rate first increases and then decreases with the impact frequency, and 15 Hz is the optimal frequency. In the single rotary mode, the coring rate first increases and then flattens with the rotation speed, and it causes great damage to the bedding structure of the simulated lunar soil sample. The rotary impact mode has significant advantages in improving the coring rate, shortening the coring time and reducing the reverse torque. The lunar soil coring robot designed has good environmental adaptability and can provide a reference for the design of lunar coring robots.