Robot Arm's segments scaling should not affect children

I am trying to replicate a robot arm in Unity.

I was successfully able to apply pan tilt roll movement on the joints with a slider value on the inspector.

However, I also want that the segment lengths are editable on the inspector. My problem is, when I do, the segments also rescale its children. I want them to rescale independently of each other. Additionally, I want that while I rescale the Segments, the elements in the heirarchy should still be connected to each other.

Here’s my script attached to RR(2):

using System.Collections.Generic;
using UnityEngine;

public class RobotController : MonoBehaviour
    public Transform[] joints;

    [Range(-360, 360)]
    public float azimuth;
    public GameObject obj_azimuth;

    [Range(-90, 90)]
    public float elevation = 0f;
    public GameObject obj_elevation;

    [Range(-360, 360)]
    public float pan = 0f;

    [Range(-360, 360)]
    public float tilt = 0f;

    [Range(-360, 360)]
    public float roll = 0f;


    [Range(0.5f, 10f)]
    public float lengthSegment1;
    public GameObject Segment1Holder;

    [Range(0.5f, 10f)]
    public float lengthSegment2;
    public GameObject Segment2Holder;

    [Range(0.5f, 10f)]
    public float lengthSegment3;
    public GameObject Segment3Holder;

    public GameObject RobotCamera;

    void Start()
        lengthSegment1 = 2f;
        lengthSegment2 = 2f;
        lengthSegment3 = 2f;

    void Update()
        obj_azimuth.transform.eulerAngles = new Vector3(elevation, azimuth, 0);
        joints[0].localRotation = Quaternion.Euler(0, pan, 0); // Pan (Rotate around Y-axis)
        joints[1].localRotation = Quaternion.Euler(tilt, 0, 0); // Tilt (Rotate around X-axis)
        joints[2].localRotation = Quaternion.Euler(0, 0, roll); // Roll (Rotate around Z-axis)

    void UpdateSegmentLengths()
        Segment1.transform.localScale = new Vector3(Segment1.transform.localScale.x, Segment1.transform.localScale.y, lengthSegment1);
        Segment2.transform.localScale = new Vector3(Segment2.transform.localScale.x, Segment2.transform.localScale.y, lengthSegment2);
        Segment3.transform.localScale = new Vector3(Segment3.transform.localScale.x, Segment3.transform.localScale.y, lengthSegment3);