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IK chains problem: How can I fully rotate my mechanical spider's leg in Cinema 4D?

Hello!

I need to animate a robotic spider in C4D. Now I'm struggling with the legs.

The thing is that IK chains seem to have some natural limited range of rotation. I can do most of the movements I need for the animation, but when I reach certain point the leg doesn't follow the rigging system anymore and starts to do weird movements (please, watch the video to a better understanding).

Can someone help me to find a solution? I think It must be something pretty basic, but I just lack the rigging skills.

Thanks!!!!

Joan Lluís


PS: I did two IK chains, one inside the other because this is what has made the pieces rotate as they naturally should in a machine like this. I also have needed 2 Protection Tags on the two "parent bones" of both IK systems to limit some of their rotations.

Since they are mechanical parts I didn't do a joints system (I tried anyway and I had the same problem). In fact, I made lots of news IK chains with bones systems and this is always happening, but I couldn't find the reason online.




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