for not getting deformation in your model i would recommend just parenting all your parts... hand to forearm, forearm to elbow, elbow to upper-arm, upper-arm to main body, etc... and then just using rotates and keying said rotates. this ensures absolutely no deformation in body parts and still moves the lower parts according to how you move the upper parts... most people try to use some sort of rig with bones, but i don't think it's necessary for your method of animating.