Locking IK Axis issues

Hello there, Im trying to lock the Ik axis of the bones since they are mechanical hinge joints but regardless of how i lock em they jitter around. Feedback would be much appreciated.

Thanks in advance!

PS. If anyone can also take a look at the last picture and tell me if i am on the right track to achieve the movement described and if i am not tell me how to get there that would be very welcome as well.

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My first guess for the jumping is that the IK control bone is parented to the IK Chain. As for the IK locking, you need to lock each bone in the chain. You can select all of the connected bones in the chain and hold ALT down while you click Y and Z axis lock to do all of them at the same time.Note:If you are using emulate 3 button mouse, you will need to do each bone manually. On the last one that rotates differently you would lock X and Z.

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