In this paper, the forward and inverse kinematics equations for demolition fire vehicle with 6-DOF were developed. This was done through the development of an interface that allows co-simulation using MATHEMATICA and ADAMS. The implementation of this project was done entirely in MATHEMATICA by calculating the kinematics equations to demonstrate the usefulness of this product. The forward and inverse kinematics of the demolition fire vehicle represents the position and orientation of the end-effector as any desired location. This research was particularly conducted using the simulator, and it showed good approximation results in terms of solving a reaching task problem.