This paper presents a rock sampling system designed for the slopes of Valles Marineris on Mars, utilizing a quadrotor vehicle. The study begins with an overview of Mars exploration and the potential applications of rotorcraft in this context. A novel sampling process tailored for the challenging slopes of Valles Marineris is proposed, integrating a Mars Unmanned Vehicle (MUV) with a Mars Sampling Quadcopter (MSQ). The rock sampling mechanism features a single-degree-of-freedom, double-link structure, which employs a synchronous belt and gear drive to enable effective rock sample collection on complex terrains. A comprehensive stress analysis of the system is conducted to validate the feasibility and robustness of the design.