\documentclass[border=6mm]{standalone}
\usepackage{tikz}
\usetikzlibrary{arrows.meta,calc}

\begin{document}
\begin{tikzpicture}[x=1cm,y=1cm,line cap=round,line join=round,
  >={Stealth[length=2.6mm]},font=\sffamily]
  \definecolor{bg}{HTML}{F4F6F8}
  \definecolor{base}{HTML}{4A5568}
  \definecolor{link}{HTML}{F2A53A}
  \definecolor{linkd}{HTML}{D88A22}
  \definecolor{joint}{HTML}{2C5282}
  \definecolor{jointl}{HTML}{4A7BC0}
  \definecolor{rot}{HTML}{C0392B}
  \definecolor{lbl}{HTML}{1F2933}
  \definecolor{floor}{HTML}{D9DEE4}

  \fill[bg] (-0.3,-0.3) rectangle (12.3,9.3);

  % floor + base (slight 3D)
  \fill[floor] (3.0,0.9) -- (8.6,0.9) -- (9.4,1.6) -- (3.8,1.6) -- cycle;
  \fill[base] (4.6,1.3) -- (7.0,1.3) -- (7.0,2.4) -- (4.6,2.4) -- cycle;
  \fill[base!80] (7.0,1.3) -- (7.6,1.7) -- (7.6,2.8) -- (7.0,2.4) -- cycle;
  \fill[base!120] (4.6,2.4) -- (7.0,2.4) -- (7.6,2.8) -- (5.2,2.8) -- cycle;

  % helper for a joint
  \newcommand{\jt}[3]{% x,y,label
    \fill[joint] (#1,#2) circle (0.34);
    \fill[jointl] (#1,#2) circle (0.18);
    \node[lbl,font=\small\bfseries,anchor=#3] at (#1,#2) {};
  }

  % links chain (shoulder -> elbow -> wrist -> tool)
  % L1 vertical from base
  \fill[link] (5.5,2.6) rectangle (6.3,4.2);
  \fill[linkd] (6.3,2.6) rectangle (6.5,4.2);
  % L2 up-left
  \fill[link,rotate around={35:(5.9,4.2)}] (5.55,4.1) rectangle (6.25,6.6);
  % L3 up-right
  \fill[link,rotate around={-40:(4.05,6.45)}] (3.7,6.35) rectangle (4.4,8.5);
  % wrist + tool
  \fill[link] (5.55,7.95) rectangle (6.9,8.55);
  \fill[linkd] (6.9,8.0) -- (7.6,8.05) -- (7.6,8.5) -- (6.9,8.55) -- cycle;
  % gripper
  \draw[base,line width=0.09cm] (7.6,8.45) -- (8.15,8.7);
  \draw[base,line width=0.09cm] (7.6,8.1) -- (8.15,7.85);

  % joints J1..J7
  \def\jr{0.32}
  \foreach \p/\lab/\dir in {
    {5.9,2.5}/J1/below, {5.9,4.2}/J2/left, {4.05,6.45}/J3/left,
    {5.0,7.5}/J4/{above left}, {6.2,8.25}/J5/above, {7.25,8.3}/J6/above,
    {7.9,8.28}/J7/right}{
    \fill[joint] (\p) circle (\jr);
    \fill[jointl] (\p) circle (0.17);
    \node[lbl,font=\small\bfseries,anchor=\dir,inner sep=3pt] at (\p) {\lab};
  }

  % rotation direction arrows (small curved arcs at a few joints)
  \draw[->,rot,line width=0.06cm] ([shift=(20:0.62)]5.9,2.5) arc (20:200:0.62);
  \draw[->,rot,line width=0.06cm] ([shift=(-30:0.6)]5.9,4.2) arc (-30:150:0.6);
  \draw[->,rot,line width=0.06cm] ([shift=(40:0.58)]4.05,6.45) arc (40:230:0.58);
  \draw[->,rot,line width=0.06cm] ([shift=(10:0.55)]6.2,8.25) arc (10:200:0.55);

  % legend + title
  \node[lbl,font=\bfseries] at (6,9.0) {7-Axis Robot Arm};
  \fill[joint] (0.8,8.6) circle (0.16); \node[lbl,font=\small,anchor=west] at (1.05,8.6) {Joint (J1--J7)};
  \fill[link] (0.7,8.0) rectangle (0.95,8.2); \node[lbl,font=\small,anchor=west] at (1.05,8.1) {Link};
  \draw[->,rot,line width=0.05cm] (0.7,7.5) arc (180:0:0.16); \node[lbl,font=\small,anchor=west] at (1.05,7.55) {Rotation};
  \node[lbl,font=\small,anchor=north] at (6.1,1.25) {Base};
\end{tikzpicture}
\end{document}
