Abstract
A robot joint assembly and a robotic arm with the joint assembly are disclosed. Also, a robot comprising the robotic arm is disclosed. The joint assembly extends along a joint axis between a primary joint assembly end and a secondary joint assembly end and comprises a housing including a first housing part and a second housing part, and an output part arranged at the secondary joint assembly end. The joint assembly also comprises a motor and a strain wave gearing system. The first housing part comprises a plurality of first assembly holes arranged circumferentially around the joint axis and each of the plurality of first assembly holes extending parallel to the joint axis, and wherein the second housing part comprises a plurality of second assembly holes arranged circumferentially around the joint axis and each of the plurality of second assembly holes extending parallel to the joint axis. Each first assembly hole of the plurality of first assembly holes is aligned with a corresponding second assembly hole of the plurality of second assembly holes and is adapted to receive a primary fastening element being inserted parallel to the joint axis from the secondary joint assembly end towards the primary joint assembly end into the first assembly hole and the second assembly hole to mechanically fastening together the first housing part and the second housing part.