Can importing multiple external models piece them together and add parent-child relationships to them?

I need to make an animation of a robot arm grabbing something, but we don’t have anyone to animate it, so it needs to be done in the front end, and I’m not sure if it can be done. We have specialized mechanical designers who can divide the mechanical arms into several segments and export them to me. Can I fragment these exported mechanical arms and use three.js at the front end to piece them together and bind the father-son relationship of bone animation to them and add animation to them.