Aiming at the problem that the deflection angle and pitching bearing capacity of traditional robot joints are limited in the process of motion,and aiming at improving the deflection and pitching motion capacity of the robot,a single motor driven biaxial deflection joint module with large deflection angle characteristics was proposed,and a pitching joint module based on parallelogram structure and spring components with low power consumption and high bearing capacity characteristics was proposed.The motion characteristics of the deflection module and pitch module were analyzed.The kinematics model of the robot based on the new modules was established,and the workspaces of the new robot and the robot based on the traditional joint under the same size and working conditions were compared and analyzed.The results show that the workspace of the new robot is significantly larger than that of the traditional robot under the same conditions,and the new joint module proposed can effectively improve the mobility of the robot.