Patt-Fett,
Check this out over at TFCog.com. A group of of them animated the Transformers comic, "War With". It turned out VERY well. They provided the voices themselves, but you of course have the radio dramas at your disposal. It might give you some ideas.
It just looks to be exactly what you want to do, and it was done very well.
http://www.tfcog.com/wwanimated.htm