A formulation is developed for the calculation of the electromagnetic-fluctuation forces for dielectric objects of arbitrary geometry at small separations, as a perturbative expansion in the dielectric contrast. The resulting Lifshitz energy automatically takes on the form of a series expansion of the different many-body contributions. The formulation has the advantage that the divergent contributions can be readily determined and subtracted off, and thus makes a convenient scheme for realistic numerical calculations, which could be useful in designing nanoscale mechanical devices.