1) replace the spherical joints with Universal joints. You have to orient the U-joint so pay attention to the Reference Coordinate System under the joint.

2) Add a frictional contact and make sure the Pinball Radius is large enough so that the Contact Tool shows the Initial Status as Near Open. What kind of error do you get from using contacts?  ANSYS Rigid Dynamics is not as robust as other RBD software I have used for contact modeling.