I don't know poser or daz rigs. but in main app's it's easy to move Lbows ,knees ,really don't even need to rig .but hydraulics and pneumatics rods can be a trick to rig. if you actually need them to move realistically. easy if there made like frozen part toys.

a real winch would be a nightmare in any 3D app.

not claiming to be any good at it but I've done 2D and I get why you want a 3D mech. you could just make it your self in https://www.blender.org/ it's Free .A lot of tutorials on youtube.

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The Artist that will fight for decades to conquer their media.
Even if you never know their name ,your know their Art.
Dark Sphere Mage Vengeance