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Let say you want Link1 to have a ball joint with Link2. In this case you have to add 3 additional links lets call them (temp1, temp2, and temp3). These links should not have transmission (unless you want to control ball joint), also you should consider very small mass for them, then it won't impact your model.

You have to connect them in this way: Link1--> temp1 --> temp2 --> temp3 --> Link2

All joints are revolute except the last one is fixed. Revolute joints connected to other and can rotate over 1 axis only.