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 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

As fires have frequently occurred with large scale at cultural assets and warehouses, the development of Korean type demolition fire apparatus for efficient fire fighting becomes important. In this study, structural stability is investigated for assembly model of boom and outrigger by using computational structural analysis. Analysis results of boom and outrigger unit are also compared with assembly model. As this study result, equivalent stress result of boom unit is about 6% higher than assembly model and equivalent stress result of outrigger unit is about 15% higher than assembly model.

In this paper, our aim is to develop a simulation model for Multi-joint demolition water vehicle. 3D model of vehicle is developed with CATIA. The rigid simulation model is built in ADAMS and the flexible simulation models are developed using ADAMS and ANSYS. The combination of the both ADAMS and ANSYS can improve the precision of system simulation. The rigid model with rigid multi-slide booms and rigid refracting booms, the hybrid model with flexible multi-slide booms and rigid refracting booms, and a flexible model with flexible multi-slide booms and flexible refracting booms are considered. The simulation analysis shows a good performance, and valuable results we are interested in are obtained.

최근 몇 년간 발생한 대형 화재사고의 경우 특수구조물에 대한 화재가 많으며 화재의 피해가 커진 경우 공통적으로 초기 진압에 어려움이 있었고, 적절한 방재작업을 수행할 장비의 부재가 원인으로 분석된 사례가 많았다. 이와 같은 특수구조물의 화재에 있어서 화재 진압을 위한 접근성이 용이하고 외부에서 화원으로 직접 방수 할 수 있는 기능을 갖춘 특수 방재장비의 도입 및 기술개발의 요구가 컸다. 이에 따라 우리나라의 산업형태에 따른 도시구조, 건축구조 등에 적합하고 기존의 유사 외국 기술이 갖고 있는 기술적 한계점을 극복한 “한국형 원격조정 파괴방수차”를 개발이 요구되었다. 본 연구에서는 목조건물, 문화재, 샌드위치 판넬 구조의 공장 및 창고, 컨테이너 Box, 항공기, 철도차량 등 특수목적 구조물의 화재 발생시 구조물의 외부를 국소파괴하고 내부로 방수노즐을 삽입 후 다량의 물 또는 폼 소화액을 방수하여 효과적인 초기 진압을 수행할 수 있는 소방장비에 대해 원격조정 굴절 붐 구조를 갖는 파괴방수차량의 국산화 설계기술, 제조기술, 하이브리드 타입 파괴방수 모듈의 설계/제작을 통한 굴절 붐 방수탑 통합 기술에 대해 연구하였다. 또한, IT기술을 접목한 노즐 모듈의 자동이송 및 아웃트리거 자동 셋팅 시스템 기술과 설계의 전 과정에 걸쳐 수치해석을 통한 설계검증 기술 그리고 시제품에 대해 자체 평가기준에 따른 성능평가에 대해 연구하였다.