[pem]

In Carrara, you can have a joint/bone as part of two IK chains. For example an IK chain from the hip to the ankle and then another chain from the ankle to the toe.

In your, case, you set up your chain of bones and then you make an IK target for each bone:

- with the IK target tool selected (icon of two chains on a square), select the first link and then click on the second link. This creates a chain starting with the first link and ending with the second link

- select the second link and using the IK chain tool again, click on the third link making another IK chain starting with the second link and ending at the third link.

Rinse and repeat as necessary.

Then you can animate the IK targets and the rest of the chain will follow as individual links. I think this is close to what you want.

This recipe will give you the basic setup you need, adding all the IK modifiers to the bones/joints. You can then modify it as you wish. For example, if you don't like the IK handles the IK tool creates, you can create your own IK targets from any object (set to not render) or the Target Helper object and substitute them into the IK chain by redirecting the IK modifier for each link to point to the new targets.