HingeJoint rope to pull object with another object

I've made a rope out of cylinder hingejoints. I can set the first link to one gameobject, and that object will pull the whole rope around. Which is good.

The second part I can't exactly figure out. I tried making the object I want to pull a hingejoint as well, and making it's connection the last link of the rope. with and without being set as a child to the link. But nothing I've tried has worked.

I'm trying to pull a ragdoll around.

I've been thinking about getting QuickRopes and being done with it. Does anybody have any experience with it?