A method based on Mach-Zehnder interferometer (MZI) to generate arbitrary vectorial vortex beams in a higher-order Poincare sphere is proposed. The combination of half-wave plate and polarization beam splitter prism is used to adjust the amplitude of branch beam, and the two common half-wave plates are used to adjust the phase of the composite beam in order to generate and transform the vector vortex beam. The traditional experimental optical path is optimized, the energy loss of the beam is reduced, and the transformation of the vector vortex beam on the different high-order Poincare spheres is realized by the quarter-wave plate. Compared with the existing Mach-Zehnder interferometer-based vector beam generation method, the optical path structure is simple and the beam conversion efficiency is improved. Theoretically, the polarization state of each vector vortex beam on Poincare sphere with topological charge m=±1 is obtained by Jones matrix calculation. According to this method, a set of experimental light path of vector vortex beam is set up. The experimental results agree well with the theoretical analysis, which proves the practicability of this method.