I would like to be able to attach or pin one independent layer to another independent layer rather t

I would like to be able to attach or pin one independent layer to another independent layer rather than just the static body layer. I would like to be able to build limbs or even body structures that are made up of independent layers chained together, like segments of snake skin all attached to a single spine element. I'm imagining it like a blend on a path in illustrator, only I can now attach draggable handles to that path and animate it.