The answer is make your assemblies flexible. It's as simple as right clicking an choosing the 'flexible' option.
In this example, we have a demolisher arm. There are four pistons that are all instances of the same assembly.

All you have to do, is right click on each sub-assembly, and choose 'Flexible' from the Pop-up menu.

Once this is done on each sub-assembly, they will move independently from each other, instead of behaving like rigid bodies.
Starting Position!
 Alternate configuration created by dragging and using Flexible Pistons!
Alternate configuration created by dragging and using Flexible Pistons! 
 
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