Help designing robot arm joints

[JPPanda]

Hi,

I'd like to replicate this Kuka robotic arm. I'd like it to be about 20-30 cms long when fully extended, though I'm pretty flexible on that length. It doesn't (shouldn't) be motorised, but I would like the joints to be movable if possible. I've been digging through different joint options but I just can't find anything which gets me even close to this. Picture below, and a video which gives you an idea of the joint movement is here: https://www.kuka.com/en-us/video?videoid=0928054e2e54483898d1d31ba080c43c. Anyone think this is possible? Or is this likely impossible? Thanks!