A guide to rigging hard-surface models in Blender without the use of armatures. The book utilizes constraints to achieve realistic motion. Related topics are covered, including Origins, parenting, Empties, Global Space versus Local, etc. Several models are built and rigged in the course of the book, with a single-cylinder gasoline engine as the final project.
This is not a "Blender 101" book. It assumes the reader will have a basic knowledge of modeling (though advanced techniques are certainly not required). All models used in this book can be freely downloaded online.