greetings everyone, hope you guys doin alright, I just need help how to do path simulation of a robotic arm that is tasked to tighten a bolt  around a circular coupler with a diameter of 500 mm, and try to get the position, velocity and acceleration of the end effector or claw or jaw in that working range,

Hoping for your kind response

attach is an image and the files I did in solidworks

thank you