When buying your pipe, black iron pipe is what you want. You can get it in a number of sizes - for your purposes 1/2 inch (which is the INSIDE dimension) will be plenty, but make sure to get the clamp heads that match the size pipe you buy. In fact, make sure they fit before you check out of the hardware store!
The pipe comes in all kinds of lengths. You're pieces need to be about three or four inches longer than the longest thing you have to clamp. Oh, and it doesn't have to have thread on both ends, so it may be cheaper to buy a 10 foot piece and cut it into, say, a 4 footer and a 6 footer.