Yes there is, I have no time to actually do the picture tutorial now. But you are a smart guy, so here is the basics in text:
The process goes as follows:
1.- Select the objects you want to Attach.
2.- Clone the objects.
3.- Isolate selection (just so you are left only with the objects you need)
4.-Use the edit mesh "Attach" to attach all the objects (I'll call this object "whole")
5.-Exit isolation
6.-Add a Skin Wrap modifier to the "whole" object
7.- Select [Add] on the skin wrap parameters, clic all the objects that make the "whole" object. They still should be there since you cloned them before attaching.
8.- Check the box that says Weight all points. Then clic, convert to skin.
9.- Test it (Should work exactly as before)
10.- If it worked, delete the skin wrap below the skin modifier and all the clones, leaving only the "whole" object.
Ah, very clever. I wouldnt have thought to use the Skin Wrap for that.
I'll try it out. Thanks!