You can use arbitrary objects such as cylinders or boxes as bones, controlling their animation as if they were bones in a bones system. You can apply an IK solver to the boned objects.
Use objects as bones:
This opens the floating Bone Tools dialog.
3ds Max now treats the selected objects as bones.
You can choose a different IK solver, but the HI Solver is the preferred choice.
Now when you transform the boned objects, their movement is governed by the IK solver and their geometry can squash and stretch during animation.