These examples from the Collection of examples from discourse.threejs.org might be helpful.
https://hofk.de/main/discourse.threejs/2019/RotateModelArm/RotateModelArm.html
https://hofk.de/main/discourse.threejs/2019/RobotSimulation/RobotSimulation.html
https://hofk.de/main/discourse.threejs/2020/LoadGLTF/LoadGLTF.html
https://hofk.de/main/discourse.threejs/2019/RotateAroundPivotPoint/RotateAroundPivotPoint.html
https://hofk.de/main/threejs/modifyGeo/modifyGeo.html
and
https://hofk.de/main/discourse.threejs/2018/Xindex2018.html example 