While Blender does provide 3D modeling and animation tools, it hardly matches the requirements that aleq was asking about.
I'd done a little looking around in similar subjects in the past, and found a program that, while providing a lot of other complicated tools, does have a "library" that you're talking about. While designed mainly for professional game developers and movie makers, there is a free Learning version that you can download. It's called Endorphin, created by the company NaturalMotion.
I'll mention that I've never actually tried it myself, so I can't guarantee that it will fully work the way you want it to, but I suspect that it may be just what you're looking for. Check it out, in any case. http://www.naturalmotion.com/endorphinLE