Summary

A couple of years ago I found the source model for this thing:
https://www.thingiverse.com/thing:1695590
The arm joints simply would not work at 1:1 scale with my kit printers. So, I pulled it into Meshmixer and TinkerCAD to create a YARAF that can be printed by us mere mortals without needing a multi-thousand dollar printer.
I printed these robots (pictured) using three different brands of PETG on three different printers. Two of them sub-$300 delta kits (Folgertech Kossel 2020 and HE3D K200) and a large bed Cartesian that I custom built from a Step file created by a friend.

They all printed and all the joints snapped loose just fine. I called "success" and am publishing it.

PETG is not the easiest stuff to print tight-tolerance print-in-place articulated models, so if you use PLA you should have no trouble at all with a .4mm nozzle .2mm print.