In this research, the dynamics equations for a demolition fire vehicle were formulated. This was done by developing an interface that allows co-simulation using ADAMS and MATHEMATICA. In this study, MATHEMATICA alone was used to calculate the constrained dynamics equations, to demonstrate the impact force and the constraint Jacobian of the end-effector as any desired location through the x, y and z axes. Then we mathematically derived a model for a unilaterally constrained multi-link. Assumptions about the fire demolition vehicle of the constraint coordinate and the impact issues of the model are discussed in the next sections. The estimation procedure for the dynamics equation showed good approximation results in terms of solving a reaching task problem.

In recent years, there was many conflagration about special structure such as wooden cultural assets, warehouses and factories. The common causes of increase in the fire damage were difficulty of the initial suppression and absence of equipment for appropriate disaster prevention. A prediction of the air injection diameter of the destruction-spray nozzle, a core technology of destruction-spray fire vehicle which is possible for fire suppression of special structure were studied. As a result, changes in water flow according to the air injection diameter is not large, but air flow rate showed a difference more than up to four times. And then, through the result data of the flow analysis, the air injection diameter was obtained in the target mix ratio of the air according to the water injection pressure. Finally, by the formula derivation for the air injection diameter of target mix ratio of the air, the air injection diameter according to the water injection pressure change could be predicted within an error of 10%.

In recent years, there was many conflagration about special structure such as wooden cultural assets, warehouses and factories. The common causes of increase in the fire damage were difficulty of the initial suppression and absence of equipment for appropriate disaster prevention. In this study, the destruction-spray nozzles, a core technology of destruction-spray fire vehicle which is possible for fire suppression of special structure was studied using the finite element method. As a result, the maximum deviation of the part nozzle was 18.1% compared with the reference value. Second, the maximum deviation of the nozzle module was 13.5% compared with the part nozzle. Third, the safety factor about internal pressure of the nozzle module was suitable as 13.6. Finally, the performance of the designed destruction-spray nozzle was satisfied with 4,652.1L/min in excess of the target performance.

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