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This paper presents a high integrated 2-DOF joint module for space application which consists of two modular joints and a control box. The axes of the two joints are orthogonal and intersectant. Based on the TDJM, some new version manipulators with different configuration could be developed with only a little modification in short time, such as four-DOF manipulator or six-DOF manipulator. The TDJM have high reliability with full redundant drive, sensors, power, communication and control system. A big central hole in the modular joint was designed for the placement of the cables in the TDJM, which prevents them from the damage of high temperature, radiation in the space environment and the motion of the joints. A test table was developed to measure the performances of the TDJM.