The idea is that despite his movements, for cartoonish as they might be, they needed to be constrained to each other at all time to keep this feeling of being a mechanic character. Matt gave me a good idea to aim constrain them one another and, on its own, it was working just fine. The problem came when I had to constrain those constrains to parts of geometry that where already bond to the rig.
I found this very useful video online that basically takes you through a good way of not only make functional pistons, but also how to "cheat" by making an infinite constrain between the master and slave parts of the hydraulic part.
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