I recommend to print the parts with 100% infill since they have to withstand a lot of force for holding tight whatever you are animating.

I printed these with a 0.8mm nozzle at 0.4 layer height and they work perfectly thanks to the added roughness.

The "clamps" are best printed with the flat side facing and up adding a little support. The ball joints are reinforced with an M2 screw and can withstand a lot of forces with no problem. I recommend printing these with 4 or 5 perimeters for better bed adhesion and its better to print more that one at a time to allow the plastic to cool between layers.

Hardware:

M2x20 bolts and nuts: 2 per articulation. M6x25 bolts and nuts: 1 per articulation

Standard metal straw or 5mm iner diameter tubes.

Metal Straws: 50 set: https://amzn.to/3UsNLym 4 set: https://amzn.to/3QfP9C4

Hardware set with 310 hex nuts and bolts (M2x20 included) perfect for 3d printing projects: https://amzn.to/3JvQDEj

This "Stainless Steel Lab Jack Scissor Stand Platform" is perfect for controlling the Y axis: https://amzn.to/4aLiQDm

M6 nuts & HEXAGONAL bolts: https://amzn.to/49OI4zh

You can use some cyanoacrylate glue for added strength.

This would look great with golden straws and a black filament.