Small swing cylinders would work. Make a pivot and install them on the side like a backhoe swing. you could even go up and down the same way, only install the second pivot at 90 degree angle to the side swing. Cylinders could be quite small, I would think. Flow control valves in the right places work great. Your biggest expense will be valves and hoses.
I am kinda doing a visual of your machine and may be way off, but I think this could work for you.
Other's will have more suggestions to add! thanks; sonny

"A machine you build yourself is a vote for a different way of life. There are things you have to earn with your hands."