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As Squad commander, the #6 key menu lists a unit's available actions (drop/pickup weapon, rearm, etc). In order to generally assemble a static weapon, you must have one backpack on the ground, such as the Bipod (for an Mk6), and be carrying the other part, such as the Tube.
By combining these two methods, you can command one unit to drop his backpack, then have the unit carrying the other part be nearby and you should have the option to assemble the static weapon (the available actions menu is tricky, so may not always work).