I am making a small mechanical ladybug. Right now I can easily make one IK leg move in one axes and have that move the gear on the Y axis. however What I am trying to do is have each IK leg that moves in X,Y,Z axis and have each axis control the rotation of the gear on the Y axis.

I have six legs.. each with 3 different axis. and I want to know if its possible to control on gear rotation with the translation of each leg.

any help with this would be greatly appreciated