TinyMeshKit is a 3D model viewer library for iOS and Android platform.
You can use it show a 3D model (DAE file) with flollowing code:
TinyMeshView * meshView = [[TinyMeshView alloc] initWithFrame:frame modelPath:modelPath];
TinyMeshView is a iOS UIView, you can add it to anywhere you want.
Android version will publish soon.