Select one of your routers to be the primary gateway for your network. This should be the router that is connected directly to your cable modem and will for the "head" of your network. The IP address information I suggest below is just a suggestion, you can use whatever you want, but this at least gets the idea across.
PRIMARY ROUTER:
IP address: 192.168.1.1
Subnet Mask: 255.255.255.0
Outside (WAN) IP address (Default Gateway): (the IP address of your cable modem or DHCP)
DHCP Server: Enabled with pool 192.168.1.4 - 192.168.1.50
Your cable modem should connect into the WAN port on your PRIMARY ROUTER, with a network cable out from the LAN port 1 to your primary switch. Next, configure each of your SECONDARY and THIRD ROUTER to be used as an access point in the same network as your PRIMARY ROUTER. You can connect an ethernet port either from the switch or directly off the LAN ports on your PRIMARY ROUTER if available to LAN port 1 on the SECONDARY and THIRD ROUTER.
SECONDARY ROUTER
IP Address: 192.168.1.2
Subnet Mask: 255.255.255.0
Default Gateway: 192.168.1.1
DHCP Server: Disabled
THIRD ROUTER
IP Address: 192.168.1.3
Subnet Mask: 255.255.255.0
Defaulg Gateway: 192.168.1.1
DHCP Server: Disabled
Now on all the wireless routers, if you want one large contiguous wireless network so you can roam from one wireless router to the other without having to reconnect to different networks, you should set each wireless router with the same wireless settings for SSID and the same security password (Preferably WPA2.) However, you should manually change the wireless channel on each router to a different channel so that they aren't conflicting. The best thing to do is set PRIMARY ROUTER to channel 1, SECONDARY ROUTER to channel 6, and THIRD ROUTER to channel 11.