D.R.E.V (Disaster Relief Emergency Vehicle)

Hello judges, I am a senior this year and after I graduate I want to pruse a degree in mechanical engineering. I am fascinated by the way engineering but more mechanical engineering shapes our every day lives. for little thing that you don't even notice like the door knob to really complex things like engines and heavy machinery

My love for this began the summer of 8th grade year when my dad gave gifted me my first cad software AutoCad using YouTube tutorial and trial and error I slowly began to make my first 3d molded that layed the base for they 9th grade year when I enter my school engineering class and started to learn concepts that I would still use to this day. fast fowred to summer of jouner year for my birthday my dad bought me a 3d printer and with this it opened a whole new level to cad with this my drawing were no longer on contained behind my laptop but make them into reality

1. Creality K1 Max 3d printer (any 3d printer with 280x280x280)
2. 1 spool of petg black
3. 1 spool of petg red( not needed I was already low) on black )
4. lenovo laptop (any laptop that can support fusion and orcaslicer)
5. fusion 360 ( for the main model and with its specialization in product production it made this project way easier and streamlined everything)
6. autocad (used this for most of the prototype and the one I am the most fluent in not concered the best for 3d modling mostly used for it strength in 2d drafting and blueprint making but setting a side it weakness it does not mean it cant do 3d autocad have done wonders for me even though it is not made for 3d.)
7. orca slicer
8. 1 esp32
9. 4 moters
10. 4 tires
11. 4 macnum wheels
12. 2 motor drivers
13. one half size bread bored
14. 2 bolts
15. 4 nuts
16. a pair of leds
17. 2 mid size leds
18. 1 mid size led
19. amulion fiol
20. one lineracuator
21. 2 Mico servos
22. 3 big servos
23. 1 big 360 servo
24. 1 battery pack
25. 1 9v battery

As a aspiring engineer it is good practice to understand how a real world engineer thinks I use this version of the scientific method called the engineering design process to help me see what I need to next

The insparation for D.R.E.V. came from natural disaster and how much dame they can do when in a time of need they operate at there fullest for example after a hurricane passes it leaves a path of destruction fallen tree and light post people trapped under dirbes or lets say there are road blocked by cars or part of homes and the first responders can reach the people in need sisutations like that is the foundation for D.R.E.V. and help shape what he needed to be to help these people in need

In the engineering design process step 4 is to plan and I had a lot of idea in the creation of D.R.E.V, D.R.E.V. need to fill many goal one of the main one was to be modular so that it can be adatibale so that it can fit in any situation maybe you don't need all the bells and whistles with the robotic arm maybe its a snowy day and you just want to clear the roads or maybe the community is hosting a night event and there are no light so you use the spot light feature or bring to a school and show kid the many uses of it so that why I go the idea to make the base could connect to different peices like a extension for a more moters which means more power or maybe you ju want a robbotic arm to help it waste disposle. one of the feature that i belived I needed to have is the abality to do a zero point turn so it can navigate in tight urdan and rual spaces and one the hardest of them was to make it all in one conroller device to help me I used a ps4 controller for it Bluetooth capabillitys and its multiple button.

I took inspiration from heavy machinery and real world first respondes vehicles here is a list of the vehicles and attachments that I took inspiration from giving a little discription about the chosen vehicle and the reasoning why.

KB-20: The Pac-Mac Kb-20 is a mid range series of knuckleboom grapple truck that is primarly used to pick up trash and forestry servies the reason I chooese this viechle is for its robotic arm and the abilty to pick up obstacles out of the way or the way of others and the ability to relocate the debreis from roads or out of harms way for example after a storm it highly likely that there are trees, cars, or light post blocking the roads which can cut into valuable time in a emergency situation or you have muntipule fallen trees and you need to move it X amount of yards away instead of carrying it one by on you could put it into the dump truck and hual muntilple at a time

d5 bulldozer: the d5 bulldozer is a modern, medium sized bulldozer it has many application like contruction like clearing an area for a foundation or in forestry to clear and area for infurstructure the reason I choose it was for its ability to move large amount of materials at a time for example there is a landslide and large amoont of dirt sand and rocks is blocking the road and preventing first responders from getting down a montian the abality to push the large amount of debreis it can clear the roads.

Kenworth K100 : not the actual truck but the cab over design I implemented the cab over design of its wide field of view when operating hevaey vehicles the operator need to see as much as he can so they don't cause and accident and also with the cad over design it make the vehicle more compact and helps it in fitting in small areas

v shaped Snow plow: The reason I choose the v shaped snow plow is for is even shape where it has a even area of clearing where in other snow plow designs where you have to tilt its blade the v shaped snow plow it is not a required movement but not is great for clearing snow from streets it can also be used to clear debreis from a blocked road for example a tornado passes through a town and debires form homes goes flying and blocks the roads the v shaped snow plow would be ables to clear the road and leave debires on the side of the road

Airtrax Sidewinder: The airtrax Sidewinder is a military innovation it is a forklift with onimdirection wheels (mecanum wheels) with its strength in loading in tight/cramped environments such as aircraft carrier decks the reason I choose this vehicle was for its Omni direction wheels (mecanum wheels) and the ability for maneuver in small/ reduced areas for exsample there is a earthquake in a urdan area there are houses fallen every where D.R.E.V. needs the abilty to maneuver in these reduced areas to reach the people in need or to clear the way for others to reach them

Spotlight: I could not find a ground vechile that uses a spot light so I add one to mine there are two versions of the spotlight the small one used to fousus in on to something and a wide one to cover a large area to helping light the way for a resure party to light up a community night get to getether .

The electronics I used is the ESP32 for its remote bluetooth capability. A PS4 controller for its multiple controls. 2 LN298N Motor driver so I can control the motor speed. A Linear Actuator so I can simulate a hydralic jack. A 360 degrees servo motor for control of the Robotic Arm. A 180 degrees Servo motor . LEDs to simulate head, tail lights and a spotlight.and robotic that has complex movement

usign the cirkit designer ide app I was able to wire the motor to make sure that it was wired correctly with out worrying about have a shotcurict or possibly damaging a part useing and the digram is from bottom to top after that I started with a prototype to see if the movement was right and that I started to build the body

When codeing D.R.E.V. I used a video from Rachel de Barros as my foundation for the code use the library she did and using it as an example I was able to use her code as a base for mine the major changes I did was the addition code for dual motor drivers for the complex movent needed for the mcalum wheels to work, 5 servos, 2 liner actuators and 5 lights, and when holding the options button to switch over to robotic arm controls and when you hold oprion it let switch to the arm controls

with a robot this complex its easy to forget what button does what and limits you from useing the robot to its fullest potential so using this ps4 controller diagram it can help you remember what button does what

10 up) make it go forward

10 down ) makes it go backwards

10 left ) makes it strafe left

10 right ) makes it strafe right

10 up + 14 left) makes it do a zero point turn left

10 up + 15 right ) makes it do a zero point turn right

9) makes the the outrigger extend

6) makes the outriggers retract

8) make the lights come on

7) makes the lights turn off

1 up) makes the hydrolic Jack" extend

1 down) makes the hydrolic jack retract

1 left) activates the spot light

1 right) disactives the spot light

16) makes the arm swing left

18) makes the arm swing right

15) extends the first arm

19) extends the second arm

14 up) closes the claw

14 down) opens the claw

10 press) lowers the cargo bay

14 press) rasies the cargo bay

In step 5 in the engineering process I wanted to make my prototype moduler to reflect on my models final design. I began with a simple wide base so it can hold all the components and enough space for modifications (It was needed). I started with mapping where my motors are going to go. Then, mapping where the ESP32 will go and my motor driver. Then I began with measuring where the head and tail lights will go and adding sufcent hight to hide my wheels when I add the cab

Using insperation from vehicle that use a cab over design I started out with making sure that my the lowest part of the bab was flush with the with the bottom of the base add big enough holes to add magnifying lens to make the head light appear brighter and a space at the to for a servo to add the spotlight

After designing the main body I started desngign the back module with the dumping mechanism in mind and in a addition of using the back attachment to store extra componentes that are not need in the moment like storing the the mecaum wheel so when needed you can quickly put them on when need or storing the spotlight when traveling on a highway

Using insparation of sissor lifts used on trailers I made my version useing a arc instead of a stright bar to would not have to worry about hitting something and using the indtaion made on the dumpbucket

orignal D.R.E.V. was going to use 4 large dc moters to provide power to the wheel with the larger moter I thought that I would get a faster vehicle but after testing i saw that the mother were unreliable in the sense of the users input it would take a long time for the moter to respond and if there was to much input the moter would begin to scream so I had to replace them with the smaller moters even tho they did not have a lot speed they did prove torque which was more then enough to move D.R.E.V. thats why there is the large rectangles on the base of the prototype and so I had to drill hole to attach zip ties to I could test the moters after making the main base I went to attach the back module and realized that there was no hole for the wire to go through so I drilled hole so I could connect the moters to it modules

Cab: in the cab the reason for the large rectangular hole is to simulate a intake of tradtion vehicles and in the process making lighter

lifting/dumping mechismism & dump bucket: when make the mechanism for the dump truck to dump I found that it could not lift it enough to where it can dump and it would leave half up I tryed to use the indentation that I all ready created but it ju should not make it work so I added a pivot in the area where I know it would make lift and retract ju show I wanted to and I attached with hole glue

once figuring out that everything is working I assembled to make the prototype there was still some major flaws with the mis match colors and the random unnessary holes to to the final model

using tradition blade used on real word bulldozer as my base I made my similar to them when I started with the "hydrologic sycyem" using liner actuartors to control the tilt of the blade and using servos to control the height of the blade then I designed to were the v-snow plow design can be easily attached useing the pre existing features as the bulldozer blade

Main body: You can begin with the assembly there are many ways in build D.R.E.V. I made it adaptive but one thing stays the same the main body so what you want to do is put the 4 motors inside the walls and once that you have decied what that's where you want them there you add a addictive like hot glue or something more permenet like super glue but my suggestion is to put the longer lasting glue on the front two motors after that they should be looking like pic 1 next you want to do is add the esp and the dual motor drivers putting driver 1 in the front and external battery and breadboard below it esp32 and finally driver 2 once you have it where you want it you can put some double sided tape or stick two end of tape together and it should look like pic 2 adding the tires and connecting a 9v battery for the esp32 and giving power to drivers and turning on the ps4 controller it should be able to move.

Cab: taking it out the printer and cleaning the supports it should slide in the other half and at this point you can add adhesive to make it permanent now you can add the lights and the servo on top and it should look like (pic 3)

Back extention: after cleaning the supports from the back extension you can begin with the motors and it should look like (pic 5) t form here you can add tape to cargo bay to prevent from opening and to put less stress on the hinges.then you can add the jack to left up the dump bucket

D.R.E.V (1): taking D.R.E.V. and adding the back extension you have made D.R.E.V. (1) (pic 6) now you can use the extension as a mini cargobay to store anything from a couple of loose bolt to a spear coBackextentiom(2): use the back extension mention above we can add to by using the same "hydrologic system" used in the prototype and placing the mechanism in the in the out line in the middle and using and adhicive to secure it then hot glue the blade mechanism and your done

2 thing that kept happpeing is when I was 3d printing the support would often detach from the plate and it would ruin the whole print wasting alot of time and fillement another major fail/fuals is that when applying load to the print some times it would brake(pic1-2) and this would be road blocking in the creation of D.R.E.V.

In conclusion D.R.E.V. is a emergency vechile designed to fit any situation from the biggest of emergency like responding after a hurricane or to the smallest like a late minute community gathering and they need light with many set backs in the creation he will be there for you no matter how big or small the problem is.