The present invention is polyarticular flexible mechanical arm, and belongs to the field of flexible robot technology. The polyarticular flexible mechanical arm includes M serially connected joint modules comprising one torsion joint and one bending joint each mounted on the pedestal. The torsion joint driving the bending joint and the next joint module to rotate around the said joint axis includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one spur gear-planet gear train. The bending joint driving the next joint module to rotate around the axis of the said joint speed reducer includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one bevel gear-planet gear train. The present invention has standard modules, great flexibility, light weight, several freedoms and high expandability.