Hi, I’m currently on a project where I mission is to animate a robot via the kinect motion capture whose joints are screws and key members of a sort of wheels. Soon I’d make the rotation constraints on the arm is correct. Currently my mocap is a little buggy. Ideally it will be to interpret the movement of the actor by recording only the rotation information on Y.
I attached a picture in case. 
http://img607.imageshack.us/img607/9870/bvuw.jpg
Wow it looks good. Is there a question I did not understand?
+1 Very stylized!
You probably want to post it in the “Works in Progress” thread http://www.blenderartists.org/forum/forumdisplay.php?16-Works-in-Progress or in another similar thread in the Artwork category.