Hard surface modeling/armor

Question Modeling

I am currently working on modeling out a robot character that has many pieces to it. I have tried to avoid sculpting and used more basic geometry to keep the topology simple. All the pieces are still separate and I will need to rig it for animation. My question is this, should I join all the objects together or should I parent the smaller pieces to a main piece? How will that effect rigging? I could be also going about the whole process wrong.  I have been struggling with hard surface mechanical vs soft surface organic processes in general and what to do differently.