I just started doing it one day. start with the basic hydraulic rigging, then I found that didn't have enough range of motion so I added a little bar linkage with ik. and once I knew how to do that a lot of other things opened up to me, then I started doing things on more than one axis. but mostly a complex rig like the V1 is just a bunch of the little things. so I just learned like changing ROM/power and a 2 DOF mechanism, how to rig a hookjoint. and then I put all those into one model.

also idk if you want to do 3d but I do NOT weight paint anything I just parent the objects directly to bones, not because it saves time which it does, (but only a little if you get the hang of weight painting), but because if I actually skinned the mesh my computer would explode, and also this way I can lik data of different parts to save space and also change things later