Re: spider mech
Theoretically you can use the boolean tools to do that, but I find they screw up your model more often than they actually help it.
My suggestion is to select the poly in the space you want the leg to come out of. Use the surface extrude, remove original, cap end, to create a hole in the middle. Add vertexes, cut the surfaces, make the middle poly into a circle, then delete it, and extrude the edges.
I've included a picture of all the steps to better illustrate.
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