The manual has a pretty good one tutorial to get you started. There are a few others out there as well, such as this free one: https://www.renderosity.com/mod/freestuff/?item_id=71136

Dark Edge Design has all kinds of good tutorials (for a fee.) I can strongly recommend them. The two you will want to get is:

"Figure Creation from ZBrush to Poser" which covers all the basics of building figures in poser. You will also want to get his "Advanced Vehicle Rigging Techniques" which covers lots of mechanical rigging techniques.

For good measure, he has an open vehicle called "SandRail" which you night might want to get as it is a worked example of what you're trying to do. Studying how others solved rigging problems is a good way to learn.

DarkEdges stuff is on another store that ends in DNA for now. Since it's closing, you might want to grab his stuff now before it disappears. DarkEdge also haunts these forums, so he might also pop up with advice on vehicle building.

The best way to learn rigging is to start simple and try it hands-on. For example, take two cubes from the primitives folder. Slave one cube so it turns when the other is moved up and down.

Cheers!

-K