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I'm designing a drill that uses an old-fashioned mechanical arm for that very reason.
(Take a look at my shaft miner for inspiration: *NOTE: the thruster arrangement at the moment doesn't work since the last update, they'll now burn off each other.... very annoying*
http://steamcommunity.com/sharedfiles/filedetails/?id=295411887)
Alternatively you can cover your ship entirely in drills.... who cares if it flaps about when it'll just drill into the wall.
Another idea I've not yet tried is to increase the mass of the ship signicantly with mass blocks.
Heres a video to making an extendable arm.
http://steamcommunity.com/sharedfiles/filedetails/?id=298925359
http://steamcommunity.com/sharedfiles/filedetails/?id=298925343
25 drills
100m extension
100% stable during 10 test drills
Fills 3-4 large cargo containers per deployment
(This is untested, but is in theory, sound.)
It's possible to use Merge blocks to join multiple pistons between the same pair of grids. (I have a rudimentary guide on how to do this on the workshop for anyone who is unsure of how to achieve this.)
It's been my experience that using multiple pistons you experience a massive increase in stability.
I tried that with the Mark 1-B but it just tore itself apart, but that was before the patch-before-last which improved pistons dramatically
Here's how I'm doing it:
http://steamcommunity.com/sharedfiles/filedetails/?id=298117839
Artificial Masses will help stability, heavy armor will reduce jitter and shaking of the whole vessel, and landing gears can guide as well. Thrusters + inertial dampening will also keep the whole contraption relatively well in place.
Multiple pistons are really a good solution to most instabilities, and make sense as well. My 9-piston mining vessel just moved as a solid whole along with the drill head, so just those 9 pistons were enough support to keep the drill and the whole ship in one piece.