Advanced Tank Treads Animation

So I found a great way to make tank treads in blender using this video the thing is I have made my tank treads a little different. On the image below you can see that the links are supposed to be connected with the other tread piece (I know that is not how most tank treads work) And obviously the links dont align correctly and I can figure out a simple way to make the links automatically connect the tread pieces

So is there a way or should I just do it manually?