Well, yes. As they have already said, a good option (if you don't want to make any designs and have no machine shop at hand) is buying a commercial swashplate, which won't be easy given the rotor size you aim for. It won't be cheap either.
The other option is designing a custom rotor. IMHO, it's best to leave the shaft fixed for a number of reasons; it's easier, lighter and sturdier. So you basically have a rotor system which is made of 1) fixed shaft 2) universal joint 3) rotor.
If you set the rotor at a certain height regarding the fuselage, then you can calculate where will the universal joint will meet the fixed shaft and you will be able to "hide" the whole system inside the autogiro. If you plan to use a prerotator, then you'll have to add a gear in the rotor and a place to hold the motor to the universal joint.