I just recently replaced my u-joint and the way to do this is use
locking clips.The clips are kind of thin metal but they will keep the bolt from backing out.
Here is a link to a picture.
http://chevy.oldcarmanualproject.com/1929_54chevyparts/05/355.HTMThe passenger car uses the same set-up.
You can get them from this place.They mite be new old stock
http://www.nwtparts.com/ ask for John