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I am trying to rig an armature with 2 links and a wheel. The wheel can rotate. The two links need to help lift the wheel (1 DOF) and steer the wheel (1 DOF). I followed a rigging tutorial online and locked transformation (rotation axes) of the links other than the ones needed.

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I had a few questions:

  1. Link 2 is offset from Link 1 and hence I added a bone to connect them. But I done see a way of fixing the connec bone to Link 1 (It should basically be an L bone). I tried copy rotation /location constraints and also tried fix translation and rotation of the object.

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  1. I need Link 2 to just steer so I locked 2 of the rotation exes. but I also want L1 to be able to move it around (Also link 1 rotation is weird though it should only rotate about X). But my guess is this is because of the IK setup?

enter image description here 3. Finally I setup an Inverse Kinematic constraint for the wheel but I want L2 to steer the wheel. Right now IK works just fine but steering does not work.

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Is this the best approach to tackle the rigging? I am also confused about using local bone axes and global axes. Any guidance is appreciated as I could not find any tutorial that could answer my questions. My blender file: https://drive.google.com/file/d/1UitkqPSC2yDBBkQr3J4dNchSsyIGvvvB/view?usp=sharing

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