Here's the steps to achieve spherical joints.
Click the Spherical Joint icon in the Kinematics Joints toolbar or select Insert -> New Joint ->Spherical from the Menu bar. The Joint Creation: Spherical dialog box appears.
Click New Mechanism. The Mechanism Creation dialog box is displayed.
Select Point 1 in the geometry area. In our example select the ball extremity.
Select Point 2 in the geometry area. Select a second point (socket extremity).
Click Ok to end the spherical joint creation.