Sure, you can make a crossbow, it's probably a bit hard, but easy in principle.
The nutrient/generator combo of a robobody can last for months. Yours can probably last much more, since you won't be using it continuously and won't be feeding a brain. And those robot models are (I think) operating within safety limits, if you disable those you could get the full strength and speed of the muscles. Probably not as strong as an exoskeleton, but probably faster. Then again, I don't know what that will do to their service life. But even with normal strength, it should be much more powerful than just throwing something.
And you don't need to concern yourself with the number of muscles. You can combine them indirectly through welds or something similar. Parallel muscles increase strength, serial muscles increase length. Just got to make sure to combine them in the right way so that the thing doesn't snap due to differences in length. Ninja'd: For your design, might be easier to make them all parallel.
I assume muscle crossbows gain energy in two ways:
a) by the muscles pulling at the string which in turn pulls an elastic material that forms the front part of the bow (don't know the name), thus storing energy (you can also utilize some sort of lever or gear system between the muscle and the string that will reduce the speed with which you load an arrow but allow you to use less muscles to do so, perhaps getting inspiration by steam train engines)
b) by the muscles forming the string contracting, thus lessening the length of the string, similar to how a slingshot works, thus further increasing the energy provided to the bolt on top of the energy stored in the bent part in front of the bow (only problem with this is that it might stress the weapon too much).
Both of those can probably be achieved without any major problems, assuming you can keep it from ripping itself apart. But that's why you have tinker to work out the details before you try it on ship. Find out how strong you can get this thing before it breaks and find out the best way to combine the muscles.
As for controlling them, most muscles use the standard nerve plug architecture used in most prosthetic limbs. Those things that are interchangeable, that allow the same robotic arm to be installed both in a robot and on a human. You just need to study that and find a way to stimulate the muscles you want. Which probably just means testing the current passing through the plugs or looking at their specification in tinker.
Only problem is it wouldn't be very good at penetrating heavy armour (like civil defender's longcoat, although I assume it won't have trouble with the MCPs), but I'm assuming that's not what you want it for. I'm assuming you're looking for something either made for utility or for delivering grenades or special gauss rounds converted to grenades, a cheaper version of the hand cannon.
If you need to penetrate something hard (but again, probably not as hard as most armour) or send something further away, you could use Sean's robomuscle overcharge function to create a sort of overcharge mode, similar to the gauss rifle one.
Ninja'd: Ah, sure, just using it to pull is the easier and more logical solution. But with something like robobody crossbow, I thought you'd want it to look like something a crazy robo-cannibal would make.
And sure, battlesuits are great. Grab a heavy laser one and we'll have one of each. Or a howitzer one, like the one the sods had, essentially a bit below the LESHO one but a bit above the gauss cannon and it doesn't need to lock up to fire, meaning you can keep fighting when losing a limb or in enclosed places.