Regarding joints: Couldn't find a darn thing off-the-shelf that worked for me, so I designed and printed one of my own. Works nicely, takes a lot of torque to turn, should be up to the job. If you can leverage my design in any way, feel free, I'm happy to share.
hi ! i,ll defenitly keep you in mind ! i,m currently following a lead or 2... will let you know where it goes ! anemis