Sometimes it is easier to simply stitch together several animation.
It is also fairly easy to timeline different servo motor actions. If each action is unique along the timeline, then this is the easiest to accomplish with individual servo motors and no specific links. The user defined profile will let you set the action along the timeline. it gets a little more tricky is you need soft starts and stops as you will want to program in sine curve equations or add additional steps to mimic the soft start/stop.