First off, this is the wrong place to post this question, but here's my response, this thread will be moved.
Check that the firewalls aren't blocking traffic. I personally use scp rather than rcp, and it works just fine. You can also try things like ftp, or sftp. Check your logs, there may be info as to why 'Permission Denied" is being sent. As for the minicom et al, are any of these boxes connected to each other through an Ethernet hookup, or is that not an option?