The invention relates to a modular reconfigurable flexible robot, in particular to a non-contact joint connecting and driving mechanism for a modular robot. The non-contact joint connecting and driving mechanism has the advantage that the problems that a traditional rigid connecting mechanism is complex in structure, low in overall reliability, poor in environment adaptability, high in cost and not suitable for flexible robot module driving can be solved. The non-contact joint connecting and driving mechanism comprises an active driving module, a passive driving module and two flexible spherical shells; the active driving module and the passive driving module are arranged in the two flexible spherical shells correspondingly; the active driving module comprises a communication and control module, a motor driver, a driving wheel shaft, a shell body, a power supply, two gear pairs, two active magnet wheels and two motors; the passive driving module comprises a connecting part and two passive magnet wheels; and the communication and control module, the motor driver, the power supply and the two motors are arranged on the shell body, wherein the two motors are arranged side by side, the output end of each motor is connected with one gear pair, and two gears of each gear pair mesh with each other. The non-contact joint connecting and driving mechanism is used for manufacturing the modular flexible robot.