actually, the ball joints are some of the easiest ones to do. For the pistons, simply aim-constrain them at each other.

As for the ones that only rotate on one axis; you can aim-constrain on only one axis too. It works best if the single axis is actually perpendicular to the joint.

To limit the rotation of the joint, look in the attribute editor, under the section 'Limit Information', under the tab with the shape's name. Simply set the rotation to whatever it needs to be. Although, I do reccommend creating and limiting a control, rather than the actual model itself.

Does that help?