What you want is probably a "ball joint" or perhaps a "universal joint" which can be had from places like:
- McMaster
- eBay
- Midwest Control Products
- sdp/si
- etc
Additionally, you need some way to hook those joints up to the actuators, which likely means drilling holes in metal.
There exists machine shops that can take a CAD drawing and manufacture the parts you need, for a price -- that price is often higher than that of mass-produced parts, but that's what you get for going custom :-)