Integrated joints and collaborative robots at home and abroad were researched.The development status of relevant technologies at home and abroad was summarized.A multiseries joint integrated high load-to-mass ratio deceleration machine, torque motor, torque sensor, dualencoders and intelligent driver was developed.The load and precision tests were carried out, the performance parameters of many types of joints,load and driver current characteristics,load and voltage characteristics were obtained. Based on the analysis of the key components of the robot joint,the general design method for integrated joint was proposed.6-DOF and 7-DOF robots were built based on integrated joints to realize distributed control of each joint of the robot.It provides a solve way for modularization and reconfiguration of robot.