Andy - All those ball-&-socket joints pop apart with judicious use of leverage -- if you can hold your tongue and a screwdriver or two just right to bring it to bear. :~) The rods bend pretty easily, so confine the application of force to areas as close to the actual joint as possible. To reassemble, manual squeeze may do it, or you may have to resort to pliers to bring the necessary force to bear, in which case you might want to consider padding the jaws to minimize scarring the metal. And while you're intimate with it all, work it back and forth (small movements) and peer closely to see the wear in each joint expressed as visible 'play' before the movement is passed on to adjacent links. (Joint parts are replaceable and obtainable separately.) Add a bit grease to the empty sockets if they're 'dry'; probably they'll be more like 'dirty' -- that's the remains of the last batch of grease. (You <will> get dirty if you're handling these; great place for surgical gloves.) Then come back one day, organized to clean house on the whole area, to maybe include rationalizing the linkage train, per the Linkage Tour -- a doable project, thanks to Joe's having pre-digested and published it here for us in plain english.
Denny
WashDC
