Use an Arduino Uno board to generate three different signals (sinusoidal, square, triangle) with an amplitude of +3/-3V. I don't want any delay; instead, I want the ability to manually switch between signals or through an interface. The frequency should vary between 0.01 and 100Hz.
Was there a question? 
I want some help about the components to use
So what have you considered so far?
In short,
- Try to design something. You don't have to buy the components.
- Draw a schematic and write some code
- Post your idea here and we can go from there
What you are asking for is not for a beginner. +/-3V is not something an Arduino does natively. This will require additional circuitry.
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Should be possible, but you will need direct port manipulation.
And an opamp to go from a signal of 0 to 5V to a signal of -3 to 3V. A simple opamp can do that for you. But that will need a symmetric power supply...
Would -2.5 to 2.5V be okay? Then you can simply use a large capacitor in series...
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Or an Arduino with a DAC?
Arduino UNO R4 has one.
Or an external DAC.
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That should work...
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I would go with an AD9833 module and an op amp to get the voltage level you want. Under $10 and it saves hours of work trying to kludge PWM and filters.
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