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HTML 

              
                <!-- https://discourse.threejs.org/t/how-to-rotate-an-object-around-a-pivot-point/6838/2 -->
<a href='https://stackoverflow.com/questions/57311356/rotating-an-object-properly-around-a-pivot-point-given-axis-and-angle/57312831#57312831'>Three.js Rotating an object properly around a pivot-point given axis and angle </a>
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CSS
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JS 

              
                // Base Part of a Structure - wraps a mesh to get size and bounding box information
// and optionally visualize these
class Part {
  // construct me from the given Mesh Factory
  // the constructor does not set size and mesh yet - use init(mesh) - later to do so
  constructor(meshFactory) {
    this.meshFactory = meshFactory;
    this.mesh = null;
    this.size = null;
    this.debug = false;
  }

  // initialize me with the given Mesh
  // calulate bounding box and size
  init(mesh) {
    this.mesh = mesh;
    this.name = mesh.name;
    var bbox = new THREE.Box3().setFromObject(this.mesh);
    this.bbox = bbox;
    this.size = new THREE.Vector3(
      bbox.max.x - bbox.min.x,
      bbox.max.y - bbox.min.y,
      bbox.max.z - bbox.max.z
    );
    if (this.debug)
      console.log(
        "bounding box for " +
          this.name +
          "=" +
          JSON.stringify(bbox.min) +
          JSON.stringify(bbox.max)
      );
  }

  // add my bounding box wire to the given mesh
  addBoundingBoxWire(toMesh) {
    var boxwire = new THREE.BoxHelper(this.mesh, 0xff8000);
    this.boxwire;
    boxwire.update();
    toMesh.add(boxwire);
  }

  // add an AxesHelper with my size to the given mesh
  addAxesHelper(toMesh) {
    var axis = new THREE.AxesHelper(this.size.length());
    toMesh.add(axis);
  }

  // add may bounding box wire and AxesHelper to the given mesh
  addBoxWireAndAxesHelper(toMesh) {
    this.addBoundingBoxWire(toMesh);
    this.addAxesHelper(toMesh);
  }
}

// Factory for Meshes with common properties e.g. same material / segments
class MeshFactory {
  // create me with the given default material and default segments
  constructor(material, segments) {
    this.material = material;
    this.segments = segments;
  }

  // creates a cylinder with given radius and height
  createCylinder(radius, height, cloneMaterial = false) {
    var cylinderGeometry = new THREE.CylinderGeometry(
      radius,
      radius,
      height,
      this.segments,
      this.segments
    );
    return this.createMesh(cylinderGeometry, cloneMaterial);
  }

  // creates a sphere with given radius and height
  createSphere(radius, cloneMaterial = false) {
    var sphereGeometry = new THREE.SphereGeometry(
      radius,
      this.segments,
      this.segments
    );
    return this.createMesh(sphereGeometry, cloneMaterial);
  }

  // creates a mesh with the given geometry, optionally cloning Material
  createMesh(geometry, cloneMaterial = false) {
    var mesh = new THREE.Mesh(geometry, this.getMaterial(cloneMaterial));
    return mesh;
  }

  // get the material of this factory - when cloned is true clone a copy of the material
  // for further modification e.g. changing of color
  getMaterial(cloned) {
    var material = this.material;
    if (cloned) material = material.clone();
    return material;
  }
}

// a Joint to be used as a Pivot Point for rotation
class Joint extends Part {
  // create me from the given mesh
  // position me at the given x,y,z position
  // show pivot sphere with given pivotr radius
  constructor(meshFactory, mesh, x, y, z, pivotr) {
    // initialize my attributes
    super(meshFactory);
    this.options = null;
    this.pivotr = pivotr;

    // construct the general Part details from the given mesh
    super.init(mesh);

    // create the pivot to rotate around/about
    this.pivot = new THREE.Group();
    this.pivot.add(this.mesh);
    // shift the pivot position to fit my size + the size of the joint
    this.pivot.position.set(
      x,
      y + this.size.y / 2 + this.pivotr,
      z + this.size.z / 2
    );
    // reposition the mesh accordingly
    this.mesh.position.set(0, this.size.y / 2, 0);

    // show axes and bounding box wire frame for debugging
    this.addBoxWireAndAxesHelper(this.pivot);

    // show the pivotJoint
    this.pivotJoint = this.createPivotJoint();
    this.pivot.add(this.pivotJoint);
    scene.add(this.pivot);
    // this.shiftPivot();
  }

  createPivotJoint() {
    var pivot = this.meshFactory.createCylinder(
      this.pivotr,
      this.pivotr * 2,
      true
    );
    pivot=this.meshFactory.createSphere(this.pivotr,true);
    pivot.rotation.z = THREE.Math.degToRad(90);
    pivot.material.color.set("red");
    return pivot;
  }

  updateFromOptions(options) {
    this.options = options;
    var r = this.pivot.rotation;
    var p = this.pivot.position;
    r.x = THREE.Math.degToRad(this.getOption("rx"));
    r.y = THREE.Math.degToRad(this.getOption("ry"));
    r.z = THREE.Math.degToRad(this.getOption("rz"));

    p.x = this.getOption("x");
    p.y = this.getOption("y");
    p.z = this.getOption("z");

    if (options.autoRotate) {
      r.x += options.rx / 180;
      r.y += options.ry / 180;
      r.z += options.rz / 180;
    }
  }

  getOption(suffix) {
    return this.options[this.name + "." + suffix];
  }
} // Joint

// a structure consisting of multiple Parts
class Structure {
  // construct me from the given options
  constructor(options) {
    this.options = options;
    this.joints = [];
    this.gui = null;
  }

  addJoint(joint) {
    this.joints.push(joint);
  }

  updateGUI() {
    for (var jointIndex in this.joints) {
      var joint = this.joints[jointIndex];
      this.updateOption(joint.name + ".x", joint.pivot.position.x);
      this.updateOption(joint.name + ".y", joint.pivot.position.y);
      this.updateOption(joint.name + ".z", joint.pivot.position.z);
      this.updateOption(
        joint.name + ".rx",
        THREE.Math.radToDeg(joint.pivot.rotation.x)
      );
      this.updateOption(
        joint.name + ".ry",
        THREE.Math.radToDeg(joint.pivot.rotation.y)
      );
      this.updateOption(
        joint.name + ".rz",
        THREE.Math.radToDeg(joint.pivot.rotation.z)
      );
    }
  }

  updateOption(optionName, optionValue) {
    if (this.options.debug) console.log(optionName + "=" + optionValue);
    this.options[optionName] = optionValue;
  }

  addGUI(gui) {
    this.gui = gui;
    for (var jointIndex in this.joints) {
      var joint = this.joints[jointIndex];
      this.addOption(joint.name + ".x", joint.pivot.position.x, 0, 1, 0.01);
      this.addOption(joint.name + ".y", joint.pivot.position.y, 0, 1, 0.01);
      this.addOption(joint.name + ".z", joint.pivot.position.z, 0, 1, 0.01);
      this.addOption(joint.name + ".rx", joint.pivot.rotation.x, -180, 180, 5);
      this.addOption(joint.name + ".ry", joint.pivot.rotation.y, -180, 180, 5);
      this.addOption(joint.name + ".rz", joint.pivot.rotation.z, -180, 180, 5);
    }
  }

  addOption(optionName, optionValue, optionFrom, optionTo, optionStep) {
    this.updateOption(optionName, optionValue);
    this.gui
      .add(this.options, optionName, optionFrom, optionTo, optionStep)
      .listen();
  }

  updateFromOptions() {
    for (var joint in this.joints) {
      this.joints[joint].updateFromOptions(this.options);
    }
    this.updateGUI();
  }
}

class Arm extends Part {
  // construct me from the given meshFactory with the given name, radius and height
  constructor(meshFactory, name, radius, height) {
    super(meshFactory);
    this.radius = radius;
    this.height = height;
    this.cylinder = meshFactory.createCylinder(radius, height);
    this.cylinder.name = name;
    super.init(this.cylinder);
    // attributes to be fille later
    this.joint=null;
  }
  
  // add my joint and position me at the given x,y,z
  addJoint(x,y,z) {
    this.joint=new Joint(this.meshFactory, this.cylinder, x, y, z, this.radius);
  }
}

// global variables used
var camera, scene, renderer, options, structure;

// start scene and animation
init();
animate();

// add some arms to the given structure using the given meshfactory
function addArms(meshFactory, structure, count) {
  var radius = 0.1;
  var height = 0.4;
  
  for (i = 1; i <= count; i++) {
    var arm = new Arm(meshFactory, "arm" + i, radius, height);
    var x=0;
    var z=0;
    var y=height/2;
    arm.addJoint(x,y,z);
    structure.addJoint(arm.joint);
    if (i > 1) {
      var previousJoint = structure.joints[i - 2];
      arm.joint.pivot.add(previousJoint.pivot);
    }
  }
}

// initialize the scene
function init() {
  // get a camera
  camera = new THREE.PerspectiveCamera(
    70,
    window.innerWidth / window.innerHeight,
    0.01,
    20
  );
  camera.position.set(2.05, 1.83, 1.4);

  // get a scene and light
  scene = new THREE.Scene();
  var light = new THREE.DirectionalLight(0xffffff);
  light.position.set(0, 1, 1).normalize();
  scene.add(light);

  // Options (DAT.GUI)
  options = {
    revision: THREE.REVISION,
    controls: true,
    autoRotate: true,
    debug: false,
    rx: 1,
    ry: 1.1,
    rz: 1.2,
    camerax: 0.1,
    cameray: 0.1,
    cameraz: 1.5
  };
  
  // DAT.GUI Related Stuff
  var gui = new dat.GUI();
  gui.add(options, "revision").listen();
  gui.add(options, "controls").listen();
  gui.add(options, "autoRotate").listen();
  gui.add(options, "debug").listen();
  rotationFolder = gui.addFolder('rotation')
  rotationFolder.add(options, "rx", 0, 5).listen();
  rotationFolder.add(options, "ry", 0, 5).listen();
  rotationFolder.add(options, "rz", 0, 5).listen();
  cameraFolder = gui.addFolder('camera')
  cameraFolder.add(options, 'camerax', -2, 2).listen();
  cameraFolder.add(options, 'cameray', -2, 2).listen();
  cameraFolder.add(options, 'cameraz', -2, 2).listen();

  // default material to be used in MeshFactory
  var material = new THREE.MeshPhongMaterial({
    color: 0x0033ff,
    specular: 0x555555,
    shininess: 200
  });
  var meshFactory = new MeshFactory(material, 64);

  structure = new Structure(options);
  addArms(meshFactory, structure, 3);
  structure.addGUI(gui);

  scene.add(new THREE.AxesHelper(1.5));

  renderer = new THREE.WebGLRenderer({ antialias: true });
  renderer.setSize(window.innerWidth, window.innerHeight);
  document.body.appendChild(renderer.domElement);
  controls = new THREE.OrbitControls(camera, renderer.domElement);
}

// timed animation
function animate() {
  controls.enabled = options.controls;
  requestAnimationFrame(animate);
  
  // update the structure from the options
  structure.updateFromOptions();
  
  // update the camera position from the options
  options.camerax = camera.position.x;
  options.cameray = camera.position.y;
  options.cameraz = camera.position.z;
  
  renderer.render(scene, camera);
}
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