I have a small trouble with the last armature(Situation "b" on the screenshot below). They bend with all chains. I use IK constraint and it does not include the first bone from the left. But not the last. I solve this problem by Copy Rotation bone constraint (Situation "a" on the screenshot below) and rotate the target bone because my ending Empties will be animated in the future (will change position and rotation). So, Limit Rotation constraint and unchecked Inherit Rotation checkbox is not my variant.
But I think that is not the best solution. Maybe this situation has another more ellegant solution?