AutoCAD Inventor :: Manipulator Arm - Drawing A Workspace

I modeled a manipulator arm (much like a human arm, or for those who are industrailly sound, like KUKA KR5), and I intend to draw its workspace.

The easiest way to do this is if I go back from the end effector joint(that is my wrist), create a rotation about my wrist rotation axis and create a curve, take this curve and sweep it about my elbow rotation axis to create an area, take this area and rotate about my shoulder axis to  create a volume and take this volume and rotate it about my torso axis to create another volume.

So my question is, is there any way I could do such a thing in Autodesk inventor?

I am using Autodesk Inventor 2010.