Robot Claw rig Help.

polycounter lvl 5
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Croftyness polycounter lvl 5
I'm going to try describe this best I can.
This is want I want to do but don't know how.

Have the yellow pivots locked in place, but still can rotate.
Have the blue pivot move freely as a secondary animation.(Like a connected limb)
Have the main "mandible" move like you imagine it would.
While also being able to rotate the entire thing.

How would I go about this. I've tried Ik's but I keep getting deformation. If you don;t know by now I'm kinda new to this.
Claw.jpg

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