I don't see any drill working, as the shaft diameter is always much smaller than the drill bit. To drill 6 joists with a 1 1/2" bit means the bit will drop about 5/8" with each hole as the shaft rests on the previous hole bottom, 5/8" x 5 joists (I am assuming the first hole will be accurate) = 3
1/8", so you will either have to start real high on the first hole or hit the concrete with the last hole. I cannot think of any way of getting such a large hole drilled through so many joists in one go. Can you not go around the ends and come in from there some how?