Articulated Robot Devil Figure from Futurama

I am a big fan of Futurama, however I see only bunch of Benders on Thingiverse, not any other robot, so I decided to make the robot devil, the lord of the robot hell!
I drew this using Solidworks yesterday to test if I can CAD as fast as I thought I can, and the result was that I could not... I thought it would only take 2 hours but it actually took 4.5hrs.
For this model I wanted to explore some other ways to make articulated joints other than ball joints (as it is annoying that they fall o