In general you will not get anyone to agree to pay a % of income from an app for doing the icon. First off - that is practically impossible to track using the tools that Apple gives businesses (if they have more than one app on the store). Second, who wants to have that kind of string attached to their business because of one component that went into the product?
If you are just looking to serve the developer market, then you will end up settling for a flat fee or hourly rate. I generally pay $250 for the icon (both sizes).
The only other option is if you want to team up with a programmer in terms of starting a company. That would make you a partner with an equity share in the business. So, you would probably work with one product (or suite) and I imagine that you would be designing it as the thing gets updated. You would do this for "stake" in a company. But, that is a big commitment.
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