Runtime physics constraints

I’m having problems using PhysicsConstraints to constrain several actors that are generated in runtime.

I’m genrerating a multi-jointed chain-like pawn at runtime, consisting of several spawned actors jointed together using PhysicsConstraints. I also attatch PhysicsThruster for moving it. Basically I do in c++:
“Constraint->AttatchToComponent(FistActor->Root, SecondActor->Root)”

It seems to work for one or two physicsContraints or links, but any more and the constrains are no longer locked and/or spin out of control.
Is this a limitation of the physics engine, or is there something I can do?

I suppose using a skeleton/bones is the better way, but I have found no way to generate this at runtime.

This is all still broken, as of 5.7. Actor1 & 2 are not exposed to BPs. I was able to simulate my desired behaviour with manual setup in scene, but despite all possible tweaks, component assignments, projections and all, this is not working properly. Use PhysicsControl component instead.