Inverse kinematics

Is there cheap inverse kinematics plugin out there for Rhino?

or is Bongo the way?

I don’t do anything complex, maybe with 3 pivots max.
Gears, maybe but not at the moment…

If you don’t mind using Grasshopper:

The component names have changed a little since that video. Here’s a current example file:
mechanical_assembly_example.gh (31.3 KB)

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