Rocha, MarcoPinto, Vítor H.Lima, JoséCosta, Paulo Gomes da2021-09-282021-09-282022Rocha, Marco; Pinto, Vitor H.; Lima, José; Costa, Paulo (2022). Design and modelling of a modular robotic joint. In 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021. p. 81-92. ISBN 978-3-030-86293-0http://hdl.handle.net/10198/23935The industry tends to increasingly automate as many processes as possible, and to make this possible, they often resort to the use of robotic arms. This paper presents the development of a proposal for a modular joint for robotic arms that allows: to obtain the best possible torque/weight ratio; to be controlled in speed and/or position; to communicate with other joints and external microcontrollers; to keep the cost as low as possible; and to be easily reconfigurable. The proposed prototype was validated with real results.engManipulatorModular jointGearboxError controlconference paper10.1007/978-3-030-86294-7_8