What kind of servo motor do I need?

I’m working on a project where I need a pair of servo motors to control a pair of joints made from 1 inch SCH-40 PVC pipe. I’m relatively certain I can figure out the code I need. What I need help with is how to calculate the size of the servo motor, or if I should use a different kind of motor in its place in order to get the desired result.

The attached drawing is what I want the servo to accomplish, on a grander scale, if that helps.

Image from Original Post so we don’t have to download it. See this Image Guide

312c15d22f0e00d2110386366545bacf184b0e67.jpg

…R

I can't see any plastic pipe in that image. How about making a diagram of the joint you want to control with the servo. And include dimensions and the weights of the components.

...R

I'm guessing this will be a lot of torque, but without masses and dimensions there is no point guessing.