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Tutorial to create an animated IK rig and import into Unity
In Maya:
Select Create->Polygon Primitives->Cylinder->
Input Height divisions: 10
Input Cap divisions: 0
Scale the cylinder 4 units to elongate
Create a Skeleton
Switch to the Rigging Module
Hit 4 to switch to Wireframe Shading
Select Skeleton->Create Joints
Draw a skeleton over your cylinder
Select the cylinder and the parent of the joints in the Outliner (Windows->Outliner)
Select Skin->Bind Skin->
Change Max influences to 3 (default 5)
The weighting will be spread across multiple joints.
You will need to adjust this based on your geometry, keep it low, 5 is too much.
Animate the Rig
Move the time slider over to frame 1 at the bottom of the screen.
Select a joint
Highlight Rotate Z in the Channel Box
Use the right mouse key to bring up mini menu, choose Key Selected.
Move the time slider over to frame 120 at the bottom of the screen.
Rotate the joint
Highlight Rotate Z in the Channel Box
Use the right mouse key choose Key Selected.
Hit the play arrow on the time slider. 
Note: Maya Tools such as IK Handles will not import into Unity.
Add your Maya File to your scene
Select the Maya file in the Assets list
Select the Model tab in the Inspector
Change the Scale Factor to .3
Uncheck Import Cameras and Lights
Hit Apply
Drag your Maya file from the Assets list over to the Hierarchy tab.
Loop the animation
Select your Maya Model in Assets
Switch to the Rig tab in the Inspector
Change Animation Type to Legacy (default was Generic)
Hit Apply
Switch to the Animation tab
Change Wrap Mode to Loop, near the top (default default)
Select Add Loop Frame
Change Wrap Mode to Loop, near the bottom (default default)
Select the Play arrow
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Publish WebGL
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