Joint module and multi-joint modular robot arm

A multi joint modular robot arm comprising:

• multiple joint modules connected in series, and each joint module having
• a base having a central axis defined in the base;
• a motion mechanism disposed on the base and having a motion element, a first transmitting assembly, and a second transmitting assembly, and the first transmitting assembly and the second transmitting assembly disposed on the base in parallel and connected to the motion element;
• wherein the motion element is driven for having a spherical movement centered on the central axis of the base;
• a linear driving mechanism disposed on the base and having a first linear driving assembly and a second linear driving assembly, and the first linear driving assembly and the second linear driving assembly being non-coaxial and disposed on the base in parallel, and
• the first linear driving assembly having
• a first linear moving member connected to the first transmitting assembly;
• and
• a first screw assembly connected to the first linear moving member, wherein the first linear moving member is driven by the first screw assembly to reciprocate along the central axis;
• and
• the second linear driving assembly having
• a second linear moving member connected to the second transmitting assembly;
• and
• a second screw assembly connected to the second linear moving member, wherein the second linear moving member is driven by the second screw assembly to reciprocate along the central axis;
• a driving motor assembly disposed on the base and having a first motor having a first output rod and a second motor having a second output rod;
• and
• a transmission disposed between the linear driving mechanism and the driving motor assembly, the transmission having
• a first wheel transmitting assembly connected to the first output rod of the driving motor assembly and the first linear driving assembly;
• and
• a second wheel transmitting assembly connected to the second output rod of the driving motor assembly and the second linear driving assembly;
• and
• each two joint modules connected in series, and the base of one of said two joint modules connected to the motion element of another one of said two joint modules.