How to assign a skeleton that interacts with attached bodies?

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For example, I have five cylinders, all of them on the x-axis line, one after the other, so they look like one long cylinder. I want to change that, and have them in a nice curve instead.
What I can do, is reposition them one by one the way I like it.
What I love to do however, is somehow create something that can act like a skeleton, with a bone and pivotpoint. So each cylinder can be attached to each bone, and then being able to grab one of the pivotpoints or one of the ends, move it, and the cylinders follow their respective bones along the way. Similar to rigging in Maya/3DMax etc.
Why do I want this? I'm thinking of making a scifi skeleton, which could potentially consist of 30+ bodies for the spline alone, and it would be great if I can rig them and interact with it that way.
Is this possible in F360, if so, can you point me to some great tutorials, videos?