{"id":4416,"date":"2023-05-31T18:21:17","date_gmt":"2023-05-31T17:21:17","guid":{"rendered":"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/?p=4416"},"modified":"2023-06-01T10:27:35","modified_gmt":"2023-06-01T09:27:35","slug":"projet-double-pendule","status":"publish","type":"post","link":"https:\/\/blog.univ-angers.fr\/polytech_2A\/2023\/05\/31\/projet-double-pendule\/","title":{"rendered":"Projet Double Pendule"},"content":{"rendered":"\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\">Pr\u00e9sentation du projet<\/h1>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-_2_-1-1-768x1024.png\" alt=\"\" class=\"wp-image-4968\" width=\"272\" height=\"366\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"wp-block-paragraph\">Bonjour nous sommes <strong>Ewan BUDOR<\/strong> et <strong>Antoine HOMMETTE<\/strong> deux \u00e9tudiants en deuxi\u00e8me ann\u00e9e \u00e0 Polytech Angers. Et aujourd&#8217;hui nous allons vous pr\u00e9senter Le projet Double Pendule &#8211; Balancing Bot.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Notre projet consiste \u00e0  <strong>concevoir<\/strong> et <strong>fabriquer<\/strong> la partie m\u00e9canique d&#8217;un robot bas\u00e9 sur le principe de fonctionnement d&#8217;un segway pour maintenir son \u00e9quilibre. En ajoutant une extension pour en faire un double pendule.<\/p>\n<\/div>\n<\/div>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Double Inverted Pendulum Self balancing Robot(LQR  control)\" width=\"584\" height=\"329\" src=\"https:\/\/www.youtube.com\/embed\/J2BUHxEG7UM?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">Vid\u00e9o de pr\u00e9sentation du robot<\/figcaption><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\" id=\"we-re-a-studio-in-berlin-with-an-international-practice-in-architecture-urban-planning-and-interior-design-we-believe-in-sharing-knowledge-and-promoting-dialogue-to-increase-the-creative-potential-of-collaboration\"><strong>Intro<\/strong><\/h1>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-8f761849 wp-block-group-is-layout-flex\">\n<p class=\"has-text-align-center wp-block-paragraph\">Nous avons choisie de diviser notre travail en 6 \u00e9tapes. Et aujourd&#8217;hui nous allons vous les expliquer :<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<ul class=\"wp-block-list\">\n<li>Sch\u00e9ma fonctionnel<\/li>\n\n\n\n<li>Recherche des composants&nbsp;<\/li>\n\n\n\n<li>Choix du design g\u00e9n\u00e9ral&nbsp;<\/li>\n\n\n\n<li>Conception des pi\u00e8ces&nbsp;<\/li>\n\n\n\n<li>Fabrication des pi\u00e8ces&nbsp;<\/li>\n\n\n\n<li>Montage du robot&nbsp;<\/li>\n<\/ul>\n<\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\">Sch\u00e9ma fonctionnel<\/h1>\n\n\n\n<p class=\"has-text-align-left wp-block-paragraph\">La premi\u00e8re \u00e9tape a \u00e9t\u00e9 de cr\u00e9er un sch\u00e9ma fonctionnel du robot. Nous avons identifi\u00e9 les composants n\u00e9cessaires pour le fonctionnement du robot. Ensuite, nous avons reli\u00e9 ces composants pour repr\u00e9senter le fonctionnement du robot avec les flux d&#8217;informations et d&#8217;\u00e9nergie. Ce sch\u00e9ma a \u00e9t\u00e9 soigneusement \u00e9labor\u00e9 pour \u00e9viter les erreurs et gagner du temps. Nous avons pr\u00e9sent\u00e9 plusieurs versions de ce sch\u00e9ma \u00e0 M. Mercier, qui nous a donn\u00e9 des conseils pour l&#8217;am\u00e9liorer.<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-2.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"735\" data-id=\"4816\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-2-1024x735.png\" alt=\"\" class=\"wp-image-4816\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-2-1024x735.png 1024w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-2-300x215.png 300w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-2-768x551.png 768w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-2-1536x1102.png 1536w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-2-418x300.png 418w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-2.png 1600w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n<\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\">Recherche des composants&nbsp;<\/h1>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"wp-block-paragraph\">La deuxi\u00e8me \u00e9tape \u00e9tait la recherche des composants n\u00e9cessaires pour notre robot. Nous avons trouv\u00e9 la plupart des \u00e9l\u00e9ments \u00e0 Polytech, gr\u00e2ce \u00e0 <strong>M. Mercier<\/strong> qui nous a fourni les composants \u00e9lectroniques essentiels. \u00c9tant donn\u00e9 que le niveau en \u00e9lectronique et codage \u00e9tait trop \u00e9lev\u00e9 pour nous. Et aussi car nous ne nous occupions pas de la partie programmation du robot.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-3-1.png\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"354\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-3-1.png\" alt=\"\" class=\"wp-image-4821\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-3-1.png 512w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-3-1-300x207.png 300w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-3-1-434x300.png 434w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/a><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"352\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-5.png\" alt=\"\" class=\"wp-image-4823\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-5.png 512w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-5-300x206.png 300w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-5-436x300.png 436w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"has-text-align-left wp-block-paragraph\">Ensuite, nous avons recherch\u00e9 les mod\u00e8les 3D dans des biblioth\u00e8ques en ligne telles que <strong>GrabCAD<\/strong> et <strong>Pololu<\/strong> pour planifier les dimensions et l&#8217;assemblage des pi\u00e8ces. Cependant, cette \u00e9tape s&#8217;est r\u00e9v\u00e9l\u00e9e difficile et a pris beaucoup de temps en raison de la complexit\u00e9 \u00e0 trouver les mod\u00e8les 3D appropri\u00e9s.<\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\">Choix du design g\u00e9n\u00e9ral<\/h1>\n\n\n\n<p class=\"has-text-align-left wp-block-paragraph\">La troisi\u00e8me \u00e9tape a \u00e9t\u00e9 de r\u00e9fl\u00e9chir \u00e0 l&#8217;esth\u00e9tique g\u00e9n\u00e9rale que nous souhaitions donner au robot, avec l&#8217;objectif qu&#8217;il soit attrayant pour le grand public. Nous avons recherch\u00e9 des id\u00e9es sur Internet en examinant des robots d\u00e9j\u00e0 existants, mais nous n&#8217;avons pas trouv\u00e9 ce que nous recherchions. Nous avons donc \u00e9largi notre recherche \u00e0 d&#8217;autres supports tels que les films et les jeux vid\u00e9o, o\u00f9 l&#8217;esth\u00e9tique est plus importante. Finalement, nous avons trouv\u00e9 notre principale source d&#8217;inspiration dans le jeu <strong>Borderland<\/strong>. <\/p>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-8f761849 wp-block-group-is-layout-flex\">\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-gallery alignwide has-nested-images columns-default is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"512\" data-id=\"4827\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-7-1-1.png\" alt=\"\" class=\"wp-image-4827\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-7-1-1.png 512w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-7-1-1-300x300.png 300w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-7-1-1-150x150.png 150w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"512\" data-id=\"4833\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-1-1-1.png\" alt=\"\" class=\"wp-image-4833\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-1-1-1.png 512w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-1-1-1-300x300.png 300w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-1-1-1-150x150.png 150w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/figure>\n<\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Nous avons apport\u00e9 quelques modifications pour adapter le design aux composants que nous avions. Par exemple, nous avons remplac\u00e9 le mod\u00e8le \u00e0 une roue par un mod\u00e8le \u00e0 deux roues et utilis\u00e9 l&#8217;antenne comme second pendule. Ensuite, nous avons simplifi\u00e9 le design avant de commencer la <strong>conception assist\u00e9e par ordinateur (CAO)<\/strong>.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-9.png\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"467\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-9.png\" alt=\"\" class=\"wp-image-4839\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-9.png 512w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-9-300x274.png 300w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-9-329x300.png 329w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/a><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading has-text-align-center\">Conception des pi\u00e8ces&nbsp;<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">La quatri\u00e8me \u00e9tape est la conception des pi\u00e8ces, nous avons cr\u00e9\u00e9 chaque pi\u00e8ce en 3D pour relier la conception \u00e0 la r\u00e9alit\u00e9. Nous avons utilis\u00e9 <strong>SOLIDWORKS<\/strong>, un logiciel de CAO, pour cr\u00e9er les pi\u00e8ces en tenant compte des dimensions et des contraintes de fabrication. Nous avons import\u00e9 les pi\u00e8ces existantes dans un assemblage pour <strong>visualiser<\/strong> notre travail.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-2-2.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-2-2.png\" alt=\"\" class=\"wp-image-4879\" width=\"276\" height=\"316\" \/><\/a><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">En partant de la base des pi\u00e8ces existantes, nous avons conceptualis\u00e9 la structure du robot en utilisant des poutres <strong>profil\u00e9es<\/strong> en <strong>aluminium <\/strong>pour soutenir la partie sup\u00e9rieure. Nous avons ajout\u00e9 des plaques en <strong>dibond <\/strong>pour renforcer la structure et fournir de l&#8217;espace pour les composants. Nous avons laiss\u00e9 plus d&#8217;espace que n\u00e9cessaire pour permettre d&#8217;\u00e9ventuelles modifications ou ajouts futurs.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"494\" height=\"512\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-3-2.png\" alt=\"\" class=\"wp-image-4849\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-3-2.png 494w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-3-2-289x300.png 289w\" sizes=\"auto, (max-width: 494px) 100vw, 494px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"wp-block-paragraph\">Ensuite, nous avons cr\u00e9\u00e9 les pi\u00e8ces qui constituaient la majeure partie de l&#8217;<strong>esth\u00e9tique ext\u00e9rieure<\/strong> du robot. Nous avons utilis\u00e9 du dibond pour les plaques du car\u00e9nage et des \u00e9querres en plastique imprim\u00e9es en 3D pour les fixer, en donnant \u00e0 notre robot la forme d&#8217;une pyramide invers\u00e9e. Nous avons con\u00e7u un car\u00e9nage qui englobe la majorit\u00e9 du robot.<\/p>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"has-text-align-left wp-block-paragraph\">Enfin, nous avons r\u00e9alis\u00e9 les <strong>finitions<\/strong>. Nous avons cr\u00e9\u00e9 des supports pour le pendule, avec des roulements \u00e0 billes pour l&#8217;axe de rotation. Nous avons fix\u00e9 une partie du pendule \u00e0 l&#8217;aide de plaques m\u00e9talliques et ajout\u00e9 une centrale \u00e0 inertie. Nous avons \u00e9galement cr\u00e9\u00e9 un cache pour l&#8217;\u00e9cran, en veillant \u00e0 ce que l&#8217;acc\u00e8s aux boutons soit facilit\u00e9. Des supports ont \u00e9t\u00e9 pr\u00e9vus pour les capteurs \u00e0 ultrasons, avec des designs diff\u00e9renci\u00e9s pour l&#8217;avant et l&#8217;arri\u00e8re du robot. Nous avons fix\u00e9 la batterie en bas de la coque avec des attaches en plastique.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-4-1.png\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"512\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-4-1.png\" alt=\"\" class=\"wp-image-4863\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-1.png 508w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-1-298x300.png 298w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-1-150x150.png 150w\" sizes=\"auto, (max-width: 508px) 100vw, 508px\" \/><\/a><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-6-1.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-6-1.png\" alt=\"\" class=\"wp-image-4882\" width=\"389\" height=\"418\" \/><\/a><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">Ces \u00e9tapes de conception nous ont permis de concr\u00e9tiser notre robot en prenant en compte \u00e0 la fois l&#8217;aspect <strong>esth\u00e9tique <\/strong>et <strong>fonctionnel<\/strong>.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\"><strong>Fabrication des pi\u00e8ces<\/strong><\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">La cinqui\u00e8me \u00e9tape est la <strong>fabrication <\/strong>des pi\u00e8ces du robot, pour cela nous avons utilis\u00e9 plusieurs machines mises \u00e0 notre disposition, notamment une machine de d\u00e9coupe <strong>CNC <\/strong>pour usiner les plaques en dibond. De plus, nous avons eu recours \u00e0 des <strong>imprimantes 3D<\/strong> afin de cr\u00e9er des pi\u00e8ces plus complexes, telles que les supports de car\u00e9nage et de pendule. En plus, nous avons utilis\u00e9 plusieurs outils du fablab tels qu&#8217;une perceuse, une scie \u00e0 m\u00e9taux, des \u00e9taux, des pinces et un \u00e9tau.&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-gallery alignwide has-nested-images columns-default is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" data-id=\"4912\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/IMG_2483-768x1024.png\" alt=\"\" class=\"wp-image-4912\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2483-768x1024.png 768w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2483-225x300.png 225w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2483-1152x1536.png 1152w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2483-1536x2048.png 1536w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" data-id=\"4915\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/IMG_2482-768x1024.png\" alt=\"\" class=\"wp-image-4915\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2482-768x1024.png 768w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2482-225x300.png 225w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2482-1152x1536.png 1152w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/IMG_2482-1536x2048.png 1536w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/><\/figure>\n<\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading has-text-align-center\">Montage du robot&nbsp;<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">La derni\u00e8re \u00e9tape est le <strong>montage <\/strong>du robot. Pour pouvoir monter le robot plus rapidement pendant la cr\u00e9ation des pi\u00e8ces, nous assemblions le robot. Nous avons commenc\u00e9 par la partie inf\u00e9rieure, en utilisant les pi\u00e8ces du ch\u00e2ssis pour former une base solide. Nous avons rencontr\u00e9 quelques diff\u00e9rences entre la conception et la r\u00e9alit\u00e9, mais nous avons pu apporter rapidement des ajustements. Ensuite, nous avons mont\u00e9 la structure, les premiers composants internes et les car\u00e9nages, malgr\u00e9 quelques probl\u00e8mes de conception. Nous avons r\u00e9ussi \u00e0 assembler toute la partie inf\u00e9rieure du robot.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"has-text-align-left wp-block-paragraph\">Nous avons \u00e9galement mont\u00e9 le pendule et son support, en testant diff\u00e9rentes pi\u00e8ces jusqu&#8217;\u00e0 trouver un assemblage qui permettait au pendule de se d\u00e9placer librement tout en restant align\u00e9. <\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-4-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-4-768x1024.jpg\" alt=\"\" class=\"wp-image-4983\" width=\"-63\" height=\"-77\" srcset=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-768x1024.jpg 768w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-225x300.jpg 225w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-1152x1536.jpg 1152w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-1536x2048.jpg 1536w, https:\/\/blog.univ-angers.fr\/polytech_2A\/files\/2023\/05\/unnamed-4-scaled.jpg 1920w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/a><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/05\/unnamed-_2_-3-768x1024.png\" alt=\"\" class=\"wp-image-4981\" width=\"231\" height=\"311\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p class=\"wp-block-paragraph\">Enfin, nous avons fix\u00e9 le pendule sur le sommet du robot et install\u00e9 les derniers composants tels que le cache d&#8217;\u00e9cran avec la carte et le cache, ainsi que les capteurs \u00e0 ultrasons.<\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading has-text-align-center\">Nos avis sur le projet.<\/h2>\n\n\n\n<blockquote class=\"wp-block-quote has-text-align-center is-style-large is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u00ab&nbsp;Malgr\u00e9 une l\u00e9g\u00e8re frustration de ne pas pouvoir voir notre robot en fonctionnement pour l\u2019instant,  j\u2019ai r\u00e9ellement pris plaisir a effectuer&nbsp;ce projet.  Je suis devenu plus autonome et j\u2019ai appris \u00e9norm\u00e9ment. &nbsp;&nbsp;\u00bb<\/p>\n<cite>Ewan BudoR<\/cite><\/blockquote>\n\n\n\n<blockquote class=\"wp-block-quote has-text-align-center is-style-large is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u00ab&nbsp;Ce projet a \u00e9t\u00e9 une exp\u00e9rience incroyablement enrichissante et stimulante, malgr\u00e9 mes r\u00e9ticences initiales. J&#8217;ai d\u00e9velopp\u00e9 un r\u00e9el engouement pour la conception et la r\u00e9alisation du robot. \u00bb<\/p>\n<cite>Antoine HOMMETTE<\/cite><\/blockquote>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<p class=\"wp-block-paragraph\">Si cet article vous a plu je vous invite \u00e0 venir lire notre rapport de projet qui vous permettra d&#8217;en apprendre plus sur le projet Double Pendule.<\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/06\/Rapport-Double-Pendule-1.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"Contenu embarqu\u00e9 Rapport-Double-Pendule-1.\"><\/object><a id=\"wp-block-file--media-892a1e27-5867-4998-9b60-4967e1213dbd\" href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/06\/Rapport-Double-Pendule-1.pdf\">Rapport-Double-Pendule-1<\/a><a href=\"https:\/\/blog.univ-angers.fr\/istiaprojetsei2\/files\/2023\/06\/Rapport-Double-Pendule-1.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-892a1e27-5867-4998-9b60-4967e1213dbd\"><\/a><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<div class=\"wp-block-group alignfull has-background-color\" style=\"margin-top:0;margin-bottom:0;padding-top:var(--wp--preset--spacing--50);padding-right:var(--wp--preset--spacing--30);padding-bottom:var(--wp--preset--spacing--50);padding-left:var(--wp--preset--spacing--30)\"><div class=\"wp-block-group__inner-container is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group alignfull has-small-font-size is-content-justification-space-between is-nowrap is-layout-flex wp-container-core-group-is-layout-4d5d3555 wp-block-group-is-layout-flex\"><h1 class=\"wp-block-site-title has-small-font-size wp-container-content-b0223bd5\"><a href=\"https:\/\/blog.univ-angers.fr\/polytech_2A\" target=\"_self\" rel=\"home\">Polytech Angers &#8211; Projets PEIP2<\/a><\/h1>\n\n\n<div class=\"wp-block-group wp-container-content-9cfa9a5a is-vertical is-content-justification-center is-layout-flex wp-container-core-group-is-layout-524f8de7 wp-block-group-is-layout-flex\">\n<p class=\"has-text-align-center has-small-font-size wp-block-paragraph\"> Proudly powered by <a rel=\"nofollow\" href=\"https:\/\/wordpress.org\">WordPress<\/a> <\/p>\n<\/div>\n\n\n\n<ul class=\"wp-block-social-links has-small-icon-size is-style-logos-only wp-container-content-b0223bd5 is-content-justification-right is-nowrap is-layout-flex wp-container-core-social-links-is-layout-68a84f0a wp-block-social-links-is-layout-flex\"><li class=\"wp-social-link wp-social-link-twitter wp-block-social-link\"><a href=\"#\" class=\"wp-block-social-link-anchor\"><svg width=\"24\" height=\"24\" viewBox=\"0 0 24 24\" version=\"1.1\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" aria-hidden=\"true\" focusable=\"false\"><path d=\"M22.23,5.924c-0.736,0.326-1.527,0.547-2.357,0.646c0.847-0.508,1.498-1.312,1.804-2.27 c-0.793,0.47-1.671,0.812-2.606,0.996C18.324,4.498,17.257,4,16.077,4c-2.266,0-4.103,1.837-4.103,4.103 c0,0.322,0.036,0.635,0.106,0.935C8.67,8.867,5.647,7.234,3.623,4.751C3.27,5.357,3.067,6.062,3.067,6.814 c0,1.424,0.724,2.679,1.825,3.415c-0.673-0.021-1.305-0.206-1.859-0.513c0,0.017,0,0.034,0,0.052c0,1.988,1.414,3.647,3.292,4.023 c-0.344,0.094-0.707,0.144-1.081,0.144c-0.264,0-0.521-0.026-0.772-0.074c0.522,1.63,2.038,2.816,3.833,2.85 c-1.404,1.1-3.174,1.756-5.096,1.756c-0.331,0-0.658-0.019-0.979-0.057c1.816,1.164,3.973,1.843,6.29,1.843 c7.547,0,11.675-6.252,11.675-11.675c0-0.178-0.004-0.355-0.012-0.531C20.985,7.47,21.68,6.747,22.23,5.924z\"><\/path><\/svg><span class=\"wp-block-social-link-label screen-reader-text\">Twitter<\/span><\/a><\/li>\n\n<li class=\"wp-social-link wp-social-link-instagram wp-block-social-link\"><a href=\"#\" class=\"wp-block-social-link-anchor\"><svg width=\"24\" height=\"24\" viewBox=\"0 0 24 24\" version=\"1.1\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" aria-hidden=\"true\" focusable=\"false\"><path d=\"M12,4.622c2.403,0,2.688,0.009,3.637,0.052c0.877,0.04,1.354,0.187,1.671,0.31c0.42,0.163,0.72,0.358,1.035,0.673 c0.315,0.315,0.51,0.615,0.673,1.035c0.123,0.317,0.27,0.794,0.31,1.671c0.043,0.949,0.052,1.234,0.052,3.637 s-0.009,2.688-0.052,3.637c-0.04,0.877-0.187,1.354-0.31,1.671c-0.163,0.42-0.358,0.72-0.673,1.035 c-0.315,0.315-0.615,0.51-1.035,0.673c-0.317,0.123-0.794,0.27-1.671,0.31c-0.949,0.043-1.233,0.052-3.637,0.052 s-2.688-0.009-3.637-0.052c-0.877-0.04-1.354-0.187-1.671-0.31c-0.42-0.163-0.72-0.358-1.035-0.673 c-0.315-0.315-0.51-0.615-0.673-1.035c-0.123-0.317-0.27-0.794-0.31-1.671C4.631,14.688,4.622,14.403,4.622,12 s0.009-2.688,0.052-3.637c0.04-0.877,0.187-1.354,0.31-1.671c0.163-0.42,0.358-0.72,0.673-1.035 c0.315-0.315,0.615-0.51,1.035-0.673c0.317-0.123,0.794-0.27,1.671-0.31C9.312,4.631,9.597,4.622,12,4.622 M12,3 C9.556,3,9.249,3.01,8.289,3.054C7.331,3.098,6.677,3.25,6.105,3.472C5.513,3.702,5.011,4.01,4.511,4.511 c-0.5,0.5-0.808,1.002-1.038,1.594C3.25,6.677,3.098,7.331,3.054,8.289C3.01,9.249,3,9.556,3,12c0,2.444,0.01,2.751,0.054,3.711 c0.044,0.958,0.196,1.612,0.418,2.185c0.23,0.592,0.538,1.094,1.038,1.594c0.5,0.5,1.002,0.808,1.594,1.038 c0.572,0.222,1.227,0.375,2.185,0.418C9.249,20.99,9.556,21,12,21s2.751-0.01,3.711-0.054c0.958-0.044,1.612-0.196,2.185-0.418 c0.592-0.23,1.094-0.538,1.594-1.038c0.5-0.5,0.808-1.002,1.038-1.594c0.222-0.572,0.375-1.227,0.418-2.185 C20.99,14.751,21,14.444,21,12s-0.01-2.751-0.054-3.711c-0.044-0.958-0.196-1.612-0.418-2.185c-0.23-0.592-0.538-1.094-1.038-1.594 c-0.5-0.5-1.002-0.808-1.594-1.038c-0.572-0.222-1.227-0.375-2.185-0.418C14.751,3.01,14.444,3,12,3L12,3z M12,7.378 c-2.552,0-4.622,2.069-4.622,4.622S9.448,16.622,12,16.622s4.622-2.069,4.622-4.622S14.552,7.378,12,7.378z M12,15 c-1.657,0-3-1.343-3-3s1.343-3,3-3s3,1.343,3,3S13.657,15,12,15z M16.804,6.116c-0.596,0-1.08,0.484-1.08,1.08 s0.484,1.08,1.08,1.08c0.596,0,1.08-0.484,1.08-1.08S17.401,6.116,16.804,6.116z\"><\/path><\/svg><span class=\"wp-block-social-link-label screen-reader-text\">Instagram<\/span><\/a><\/li><\/ul>\n<\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n","protected":false},"excerpt":{"rendered":"<p>Pr\u00e9sentation du projet Bonjour nous sommes Ewan BUDOR et Antoine HOMMETTE deux \u00e9tudiants en deuxi\u00e8me ann\u00e9e \u00e0 Polytech Angers. Et aujourd&#8217;hui nous allons vous pr\u00e9senter Le projet Double Pendule &#8211; Balancing Bot. Notre projet consiste \u00e0 concevoir et fabriquer la &hellip; <a href=\"https:\/\/blog.univ-angers.fr\/polytech_2A\/2023\/05\/31\/projet-double-pendule\/\">Continuer la lecture <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":99786,"featured_media":4962,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[567],"tags":[193,26,37,32,243,27,104,115],"class_list":["post-4416","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-2022-2023","tag-angers","tag-cao","tag-conception","tag-mecanique","tag-polytech-angers","tag-projet","tag-projet-ei2","tag-solidworks"],"_links":{"self":[{"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/posts\/4416","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/users\/99786"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/comments?post=4416"}],"version-history":[{"count":51,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/posts\/4416\/revisions"}],"predecessor-version":[{"id":5473,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/posts\/4416\/revisions\/5473"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/media\/4962"}],"wp:attachment":[{"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/media?parent=4416"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/categories?post=4416"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.univ-angers.fr\/polytech_2A\/wp-json\/wp\/v2\/tags?post=4416"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}