That's a rather broad question. It'll be easier to help you if you ask specific questions and show what you've tried already.
Oh I didn't think it was that broad a question?.... There is an image of the type of mechanism I would like to animate.
But here goes.... I would like to take a collection of solids and link them with expressions so that I can simply rotate one pivot point on one of the solids and the others will pivot and move position (I guess) with it, in the same fashion as the earlier attached picture with the boxing glove.
It is quite hard to explain it any other way.
Assuming you have all the pieces parented together in two chains where the first layer in each chain has the anchor point in the middle, the others have the anchor point where they attach to their parent, and one chain is parented to the the other, the two pieces that attach to the main parent get this:
everybody else gets this: