Constraints Results in Broken Collision

I tried making a suspension using constraints and resulted in collision problem. My setup is:
[object] <-constraint-> [object] <-constraint-> [object] <-constraint> [object]
The last object gets collision problems.

A video that better explains the problem:

This seems hopeless. No answers for ages. Nor here, nor in forums. Also it seems that viewcount is just not growing. People just ignore this(and me). What to do? I am getting desperate because this is urgent!