To solve the problems of the spacecraft anchoring and sampling on the surface of small bodies which are micro-gravity and unknown characteristics, an integrated robot design scheme for anchoring and sampling is proposed. It fusions functions such as buffering, anchoring, sampling, and sample transferring as a whole. Based on the idea of reusing leg and arm, a multi-arm collaborating scheme having active and self-adaptive land buffering is proposed; Taking advantages of the ultrasonic drill with low drilling pressure and high drilling efficiency on the hard rock, an anchoring scheme using ultrasonic drill for the rocky small body is proposed; In response to the uncertain characteristics of the small body and high sampling adaptability, a dual-mode sampling scheme including grinding and brushing is proposed. Buffering and sampling performances are simulated. Prototype is developed and the whole process test of anchoring and sampling is carried out, and the core functions of the robot mechanical system are verified.