The first consideration is how to manufacture it (I use 3D printers). Tiger Mike is asking what are your constraints (size, shape etc.) are. Also does it need to be tool-less design? You want it to move/adjust it without needing for example and hex/ allen wrench? Also things to consider is elegance vs strength.
To make my joint I sketched a circle with a line bisecting it. Revolved half the circle 180 degrees to make a hemisphere. I selected the face of it to make a new sketch. Sketched a circle to punch a hole for the screw. I made a copy of it for the other side of the joint. Went back to the 2nd sketch to make the gear like teeth on the face of the hemisphere making a circular pattern of teeth. I added the teeth to the 1st hemisphere (boolean add tool). Then I aligned the copied hempisphere face to the 1st hemisphere face and subtracted them so the teeth became matching divits in the other hemisphere.
To make it compliant (spring built in) I will make slots in the hemishperes to work like a spring mech.
Think in sketches. Planes are really handy for making sketches on. Planes can be moved and rotated to orient them anywhere you need to make a sketch.