Modular joint combination of mechanical arm with multiple degrees of freedom

The invention discloses a modular joint combination of a mechanical arm with multiple degrees of freedom, which comprises more than two modular joints. The modular joints are serially connected and rotate coaxially, each modular joint consists of a first joint and a second joint which are integrally connected, each first joint comprises a power transmission input shaft, first harmonic speed reducers and first clutches are disposed on the power input shafts, each second joint consists of a transmission shaft connected with the input shaft of the corresponding first joint, the transmission shafts are connected with the first clutches, armatures of second clutches are connected with independent transmission mechanisms, and the independent transmission mechanisms are second harmonic speed reducers respectively. A modular joint structure mode is adopted to form the mechanical arm, development cycle of the mechanical arm is short, multiple degrees of freedom are easier to be realized, the multiple modular joints can share the same power source due to an independent and transmission manner, accordingly, service amounts of servo motors, encoders and drivers can be reduced, and cost is lowered advantageously.