Abstract This study presents an innovative approach to obtain the tensile force produced by pneumatic artificial muscles (PAMs) exhibiting nonlinear behavior as a function of pressure and muscle length. The static force model, which has an essential place in controlling and understanding the behavior of PAM, is obtained by considering the change of the fiber-winding angle, the change of the internal air volume, and the potential energy of the bladder. Within the scope of this study, an original experimental setup was designed and manufactured to experimentally determine the tensile force produced by PAM depending on the applied air pressure and contraction rate. The effectiveness of the static force model is compared with experimental data for four artificial muscles: Festo DMSP-10-100, DMSP-10-150, DMSP-20-200, and DMSP-20-300. It is understood that the deviation rate of the force characteristic model results from the experimental results was less than 2 % for 20 mm diameter PAMs and less than 4 % for 10 mm diameter PAMs.
İbiş et al. (Sat,) studied this question.