Rigging for animation of a model

I have imported a model from a mechanical CAD system. model is correct, but now it is time to get it rigged.
I’m a blender enthousiast, but my rigging skills are far from workable.
I need the rigging to be in line with the capabilities of the original product.
To sketch the animation. The product is a gangway system which connects a ship to a offshore wind mill. This gangway will need to deploy itself, move to the target and once it connects will compensate for the motion of the vessel so people can transfer safely from the ship to the structure and back.
This means that I want to position the tip of the gangway and all other parts will follow the motions of the ship as they need.
To give an idea of the complexity: gangway system has 1 cilinder moving the upperarm from the base, 1 cilinder connecting the upperarm to the elbow, 2 cilinders in parallel connecting the elbow to the lower arm, 1 telescopic movement to extend the lower arm and 1 hinge connecting the lowerarm to the landing platform.
I only need the model to be rigged correctly so I can start animating and fiddling with it.
I am thinking about payment of about EUR 50-100.