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.

In this paper, a commercial multibody dynamics program ADAMS was utilized to investigate the model for the multi-joint boom conflicts. In this process, CATIA, ANSYS and ADAMS were used to develop the simulation. The addition of ADAMS made the system more accurate and improved precision of the system. In brief, the 3D CAD model of the structure was initially developed via CATIA. After this, the CATIA models were exported to ANSYS for creating flexible-body modeling by using formatted file. Subsequently, with ADAMS, the flexible body model was directly imported from ANSYS which performed the analyses of the dynamic collision of the nozzle boom conflicts. This contained the information regarding geometry and model shapes of the flexible body. Using ADAMS/Durability, it was possible to determine the strain energy for the nozzle configuration by crashing the contact structure that was created. Via this procedure, the acquired simulation analysis of nozzle showed interestingly good results with respect to the objectives of the study