Mesh deformation is far superior and supported in DBPro so that is something to consider.
I couldn't begin to explain Milkshape because I don't know the program, but I could demonstrate the process in Max if you have it? You said, "etc."
Select a portion of the mesh and from the Edit Mesh menu select Detach. Done.
You can link the two limbs together using the chain tool by click dragging from daughter to mother. You can also edit the individual limbs rotation axis in the same way you would an object in a Max scene.
Pneumatic Dryll
