Apparatus of driving for robot joint

The present invention is connected via a first axis of rotation to the base, a base relates to a joint drive device for a robot, having a projecting portion at which the first rotary shaft inserted into one end of the first wire and the second wire is fixed outside on the projecting portion the first link and the second is connected via a second rotational shaft at one end of the first link, the facing to one end of the first link and the second axis of rotation is one end of a third wire external to the projecting portion fixed with a projecting portion to be inserted It includes a second link to propose a joint drive for a robot made in one embodiment. To minimize the number of motors and batteries necessary according to the invention to drive the joints of the multi-link structure, and thus can implement a joint for a robot to the small and light-weight. In addition, by increasing the space occupied compared to the power output is a multi-link it is possible to increase the driving force of the joint terminal device for a robot.