What's the type of joint i need to use to create a robotic arm?

I need to create a robotic arm that i can move using a script. I’ve sketched it on the image attached.

What is the kind of joint (or any other thing) that i need to use to make that arm work?
Thank you!

if it needs to interact with physics ect then use a configuarlbe joint if not the just move its transforms and roations

Try a hinge joint.