Move an industrial robot


I would like to be able to move an industrial robot with JMonkey!
Here is a video which presents a 6-axis robot.

I already have the 3D Model of this robot. Each part is movable: there are no joints, etc.

I don’t want inverse kinematics (except if it’s simple). I just want to be able to specify the angle of rotation of each part and that each part follows his “parent” part. Do I just need to attach child to each parent node? Is there a simpler way to do that (ex.: bones)? How to know the axis of rotation of each part?

Thank you in advance!

How does your code look and what is your problem exactly?