Trying to make a head-only puppet which is attached to 'hydraulic arm' sort of thing. Is this possible?

Hi!
Please see the image above. I'm trying to create a robot character which only has a head, but it's connected via a hydraulic arm to the top of the screen. I'm hoping the head could move with my own head movements on camera, and that the arm would bend and move realistically.
Is this possible at all? I assume I'd need sticks to keep the arms straight, and attaching them via a hinge join. But I'm not sure where to start on setting up the .ai file, or what the order of the layers should be.
Has anyone done something like this before? Is this even possible in ChA?
Cheers,
George
