The main aim of the article is to create a simulation model that will allow us to study the behaviour of pneumatic artificial muscles (PAM) in various dynamic conditions and compare the obtained results with the experiment. We investigated a model of a separation device (e.g. suitable for branching the material flow in a production line), which uses pneumatic artificial muscles in antagonistic connection as actuators to drive the semi-rotary arm. The simulation model was created in the Matlab/Simulink software, while we analysed how changes in various model parameters affect the achievement of the desired final actuator displacement (contraction). The work provides important knowledge about the dynamics of PAM and their interaction with various parameters, thereby contributing to a better understanding of their behaviour in technical applications. As part of the experiment, a simple test device equipped with a pneumatic artificial muscle supplemented with a chain transmission and a wheel with a swing arm was built.

Acknowledgement: The research was supported by the project KEGA 040ŽU-4/2023.