## 7 Results
During this calculation, only coordinate z was variable, and all other external coordinates had zero value. These results show the capabilities of the obtained mechanism. Figure 14: Change of penalty value (score) in reference to generation. Figure 15: Kinematic model of optimized mechanism geometry. \begin{table}
\begin{tabular}{c c c} \hline \hline
**External Coordinate** & **Value** & **Coordinate \(z\)** \\ \hline \(x\) & 640 mm & \(-\)38 mm \\ \(y\) & 670 mm & \(-\)91 mm \\ \(z\) & 290 mm & 290 mm \\ \(\psi\) & 67.5\({}^{\circ}\) & 43 mm \\ \(\theta\) & 31.5\({}^{\circ}\) & 33 mm \\ \(\varphi\) & 38.5\({}^{\circ}\) & \(-\)6 mm \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Maximal values of external coordinates. Figure 16: (a) Maximal required actuator torque and (b) dexterity of mechanism. Figure 17: (a) Maximal pitch and (b) roll angles. In order to experimentally verify the characteristics of the mechanism and everything that was analyzed in this paper, a first scaled-down prototype of the flight simulator mechanism was made (shown in Figure 18). Based on the presented solution of the inverse kinematic problem, all equations are implemented in the microcontroller of the control system. As part of the verification process, the platform moved in accordance with the desired movement, which was preprogrammed. All the assumed physical limitations of the mechanism also proved to be correctly implemented, and the calculated workspace corresponds to the one actually obtained. Using different sensors, it is possible to measure the positioning precision of the platform. It was first successfully tested whether actuators are able to achieve the desired angle based on the sent control value. Experiments with the assembled mechanism were based on sending control values to the mechanism and measuring the position and orientation of the platform in order to compare it with calculated values. This method is used to test each position and orientation within the workspace. The motion monitoring system for the Stewart platform is presented in paper [62], and it can be used for verification. There are also vision-based control systems, as described in [63] that can also be used for monitoring and verification of motion. When the mechanism is geometrically unambiguously defined, it is possible to move on to its materialization, in the sense of transforming a kinematic model into a three-dimensional model with all the accompanying information on the basis of which it can be manufactured. The beginning and the end of the materialization process are shown in Figure 19.  
Besides physical experiments, for research and verification, it is very useful to do computer-based simulations. In paper [64], computer-aided design (CAD) software is used for visualization of the workspace, while papers [65; 66] presented simulation environments for this type of mechanism. After all the programs were tested on a scaled-down prototype of the flight mechanism simulator and after the optimized geometry was obtained, a functional full-size prototype of the flight simulator mechanism is developed and manufactured with sufficient precision to match obtained values of geometric parameters. This prototype of a low-cost flight simulator with electric rotary actuators and optimized geometry for flight simulation is then used for all experiments. The mechanism for different control values is shown in Figure 20.  
Figure 18: Scaled-down prototype of the mechanism (physical and 3D model). This system can be used with flight simulation software that supplies the system with necessary motion data, or it can be used for a replay of captured data from the flight, but it can also be manually controlled. The system proved capable of flight simulation after the flight simulation. Figure 19: Materialization of the mechanism. Figure 20: Experiment with a prototype of an optimized flight simulator mechanism. testing with preprogrammed trajectory characteristic for flight simulation in accordance with the most used airplane maneuvers.