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The paper describes basic characteristics of pneumatic artificial muscles (PAM) for using as actuator in mechatronic system. The previous parameters research of individually connected artificial muscles shows, that it is significantly nonlinear system with time delay. Availing these results, problem of using of static and dynamic characteristics of PAMs for control and modeling electropneumatic mechatronic systems based on the artificial muscles occurs. To solve this problems, the paper also deals with design of some models.

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Dynamic models of pneumatic artificial muscles (PAMs) are important for simulation of the movement dynamics of the PAM-based actuators and also for their control. The simple models of PAMs are geometric models, which can be relatively easy used under certain simplification for obtaining of the static and dynamic characteristics of the pneumatic artificial muscle. An advanced geometric muscle model is used in paper for describing the dynamic behavior of PAM based antagonistic actuator.