6-Dofs cartesian parallel robot

There is a milling cutter at the end of the shape. You can give any force value to this tip and any length value to the arms. How can we find the force generated in the arms and the power of the motor by force analysis? (Matrix will not be used and also draw free body diagrams)

The force applied to the milling cutter tip depending on time is 48N in x breakage, 86N in y breakage, and the average resultant force is 99N. The lengths of the lower arms are 300 mm, the upper arm is 470 mm long, the depth of cut is 1 mm, the feed speed is 515 mm/min, the cutting speed is 250 m. /min