**8. Conclusions**

The present document set out the objectives and the description of the partial result; from this, a favorable product was obtained regarding the characteristics of the system and the definition of its components.

Throughout the document the different points that led to the determination or adaptation of certain elements or characteristics of the work to be carried out are observed, this (as initially mentioned in the problem statement) was subject to change as more in The theme with the purpose of bringing the system closer to the desired characteristics, is by means of this method that it was possible to determine the components that would allow the generation of the CAD design and the electronic design sketch.

One of the proposed objectives was the calculation of inverse kinematics. When investigating more about the subject, it was concluded that it is possible to use the same one as described in [1], because for parallel manipulators with the same configuration, it is unique. Despite having replaced the linear actuators with angular ones, it has no impact on the calculation of the same, since the distance of interest is the vector that describes the collinear extension between the axis of the servomotor and its respective point of coincidence on the platform (upper kneecap) as shown in **Figure 25**.

The maximum position and orientation parameters of a Stewart-Gough platform depend on the application given to this device. Since this project requires bringing a *Stewart-Gough Platform: Design and Construction with a Digital PID Controller Implementation DOI: http://dx.doi.org/10.5772/intechopen.91817*

**Figure 25.** *Deformation and stress study of the Stewart-Gough platform applied to the resistive panel.*

sliding object on the resistive panel to a desired position, it was determined that the suitable angle for this system is 20 for warping and 20 for pitching. To arrive at this characteristic, an estimation of measures was implemented based on the desired workspace, and the geometric and articular parameters were checked by simulations.
