A Fast-steering Mirror(FSM) with a spherical pair supporting structure driven by linear voice coil actuators was designed to control the transmission direction of a laser precisely. The mechanical structure reflector, actuators and angle measurement elements of the system were designed and chosen, respectively, on the basis of functions and design requirements of the FSM. Then, the FSM system was tested and analyzed by experiments after finely manufacturing, assembling and adjusting. The results show that the FSM with the spherical pair supporting structure has simple structure and great carrying capacity,and its steady precision is more than 2″ and resonance frequency is about 120 Hz. Furthermore, the system has great adaptability to vibrancy, impact and rotation. Therefore, it can satisfy application requirements.