I have designed a 6 DOF robot. This robot will move under certain trajectory for each joint, and the external load is varying according to end effector position and the trajectory. I have the trajectory for each joint and the loads at the each time in excel file. I would to like to study the stress analysis for the whole assembly under those joints trajectories and external load. I want to study the stress analysis during the movement. I would like to know what are the procedures to solve this problem? Many thanks.