Thanks @peteroznewman for your answer! Here I apply the photo of the system I want to model. Briefly, there're 3 rods (on the right side of the picture) that have a spherical joint with the ground. All the other joints between rods should be also spherical with non-zero stiffnesses (that's what I meant when I wrote about springs) . I actually haven't quite understand your note about 6 springs. Could you please explain it more? Is the structure on the picture appropriate for Static Structural?
There is also a problem here with the spherical joints. I read about this type of joint and how the friction moment is calculated based on radius, friction coefficient and surfaces of the joint. I didn't understand is it valid to define the joint between the ground and the top face of the cylinder as is shown on the 2nd picture (and also if I want to create a joint between 2 consecutive rods, I would need to define a joint between the bottom of one cylinder and the top of another). The problem here is that here the center of the joint is located in the center of the face and the radius of the joint is 0, so, as I understand, the moment would be 0. All I want is just to make some kind of connection between rods that would produce a counteracting moment that is proportional to change of angles in this joint. (like in a revolute joint, where we have M = c*phi, but here in spherical joint we have 2 angles, as I don't want to account intrinsic rotation of cylinder around its axis). Maybe I just need some other type of joint for this purpose?
Thank you in advance!