Can someone recommend an adequate modeling program?

Sometime long ago, like maybe 20 years ago, I built some articulated props which I cannot, for the life of me, remember how I created. They're complex enough that I don't think I built them in Poser. This is one, fully articulated. The chain bends, the lock unlocks, the cuffs open.

Somehow I don't think I built it in Poser (4, btw). I have this vague thought that maybe it was Dazd (Daz3d?) but I really don't know. Effectively, after a 20 year haitus, I'm pretty much a newbie again. So any suggestions about what app to use would be greatly appreciated.