Numerical semigroups with embedding dimension three and minimal catenary degree

We characterize numerical semigroups $S$ with embedding dimension three attaining equality in the inequality $\max\Delta(S)+2\leq \operatorname{cat}(S)$, where $\Delta(S)$ denotes the Delta set of $S$ and $\operatorname{cat}(S)$ denotes the catenary degree of $S$.