Line-driven modularized three-degree-of-freedom joint

The invention discloses a line-driven modularized three-degree-of-freedom joint, which relates to the technical field of mechanical arms and comprises three modularized joints, each modular joint comprises a supporting seat, a synchronous tensioning mechanism, a crossed roller bearing, a driving motor, a motor seat, a winch driving wheel, a rope, a winch driven wheel, a connecting flange plate and a winch bottom plate; the adjacent modular joints are connected with the supporting base through the connecting flange plates, the capstan bottom plate of the first modular joint is used for being connected with the base, and the capstan bottom plate of the third modular joint is used for being connected with the end effector. The modular design is adopted, the number of the modular joints is changed to meet the working requirements of different degrees of freedom, all the modular joints do not interfere with one another in the movement process, and the rope does not have the coupling condition; and during movement,