I haven't dealt with the non-recourse loan portion, but I have partnered with myself and my parents and it is legal. You are just 2 separate "entities" Andy wolfe and Andy IRA that own a property. It isn't a prohibited transaction unless you are benefitting your IRA by loaning money or paying for something your IRA was supposed to, if it is just a partnership then you are ok. Below is something from the IRS website where they describe what constitutes a prohibited transaction.
The only thing to be careful of is the prohibited transactions of you materially benefiting your IRA, and realize that you won't be able to separate yourself from the property later by selling your 1/3 to your IRA.
But otherwise it's been fairly easy for me, my PM maintains a reserve and pays bills so my custodian doesn't have to deal with the bill split and she fwd's the additional rent over the reserve my portion to me and the other to my IRA.
http://www.irs.gov/publications/p590/ch01.html#en_US_2012_publink1000230855
The following are examples of prohibited transactions with a traditional IRA.
Borrowing money from it.
Selling property to it.
Receiving unreasonable compensation for managing it.
Using it as security for a loan.
Buying property for personal use (present or future) with IRA funds.