How to create Physics Joints for a Universal Joint in RS?

Hi. Can someone give advice on how to create Physic Joints for a Universal Joint Prop Shaft in RS, to make sure the joints move as required?

Background. Prop Shaft will be connected to a External Positioner on one end and other end will be connected to a shaft which requires welding. Different diameter of shafts. When rotating the external axis the shaft should rotate accordingly and the prop shaft should mimic the real movements.