Urgent rigging question (SOLVED)

It is not an easy... well done!

In what application you're riging it?

In Blender, but even a general clue in other application would be helpful. I guess the method is similar.

Unfortunately i have almost no knowledge in Blender, but in 3ds max i would simply go for orientation constraints - it's very simple.

Align pivot points of the objects in same position. Then link pallet object to the arm you wanted to move with.

Thank you guys for all comments!

The solution is in fact really simple. I made simple bone rig for this as shown in this great video: https://www.youtube.com/watch?v=t1GmLAVeySY
I'm new to rigging, and quite in rush that's why I asked. I wrongly expected using only basic constrains like copy rotation and translation, but it seems to be only possible with bones (Armature).