Articulating arm

Hi I need help to see if anyone here has ever designed an articulating arm that could tilt a plasma torch thru cnc control? I have my design to rotate it left and right for angles, but to do 5 axis work it has to tilt in all directions. Some type of scissor action is what I think I need. Need some help if anyone knows how to do this.

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Would be helpful to post some screenshots or upload the files to detail what you want to do.

 
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