This can be done in Workbench without using any APDL commands. define the real constants for the contacts using the R, RMORE, RMODIF commands and the id of maxid +1. set the real and mat to be 1 above their max id values. Now a Static Structural model will solve without pivot errors. create the element type for the contact using ET and KEYOPT with the id number being 1 greater than the existing max type id. If you pick three nodes around the circle, you can constrain Y=0 and Z=0 and leave X=Free. Put the origin of the Cylindrical coordinate system at the center of the cylindrical surface, and align the Z axis with the axis of the cylinder. If you want to constrain three nodes to ground in a pattern that allows free radial expansion, that is easily achieved by creating a Cylindrical Coordinate System. In these commands, specific Degrees of Freedom can be coupled, and these are defined in the nodal coordinate system. In there you will see there is an APDL command CP for Coupling, a CE command for Constraint Equations, an RBE3 command that distributes forces from a master node to a set of slave nodes. Navigate to the Mechanical APDL section and then into Chapter 10: Multipoint Constraints and Assemblies. You ask about a kinematic coupling between a reference node and other nodes.
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