Even thou Inverse Kinematics are neat and spectacular, they are also very complex unless you are good at trigonometry. A simpler way to achieve a “posable” puppet is to make a graphic element that will rotate around a pivot point. Then, attach another graphic element to the first one that has its own pivot point and repeat as many times as necessary.
Adding some constrains and making some points “fixed” is possible to create something close to a posable puppet. It’s also possible to store pre-set positions for later use.
This is a basic “humanoid” puppet using the IKMember from this post.
Even thou it works more or less for what i want, a lot of limitations are evident: setting different distances betweens different neighbor anchor points or making some of them static
