As you may or may not have noticed, Only a limited amount of Tween animations can be on screen at once, or else serious lock up. Therefore you are stuck with a problem, I want smooth animation, yet easy and fast. Here is my tip.
This is going to have to be frame by frame, and in order for it to look good it will have to be animators speed (24 fps). Simply draw each limb at different views, i.e. face left, right, forward, etc. And make them all sybols, that way just drag and drop whenever you need a limb. Watch Steven Seagal Ep: III one more time, this time on the light saber fight, pause it and play manually, you can tell he used this trick, frame by frame and symbol limbs, and it looks GREAT.
Hope this helps.