Hi,
I think Skeletal Controls are exactly what you need for this. These are nodes in the Animation Blueprint that you can use to drive the translation/rotation/scale of bones. Documentation here: LINK.
Note, in order for these to work, you might need to pass the ref pose of your skeleton through the skelControl node (there are already nodes in the AnimBP to do that). I’ve never just driven something without any animation under it; so, that may or may not be necessary.
Good luck.