Pneumatic artificial muscles (PAMs) have emerged as a significant research focus in robotics owing to their exceptional force-to-weight ratio. However, their nonlinear behavior presents challenges when integrated into complex systems, such as parallel robots. This study examines the performance of PAMs in a closed-chain configuration, specifically a 2-DOF planar Biglide robot. Initially, a kinematic model is investigated to calculate optimal workspaces, ensuring flexible and efficient robot operation in specific environments. Subsequently, an experimental platform is constructed to validate the applicability of PAMs in practical scenarios. The characteristics of the pneumatic actuators are analyzed, investigated, and identified using the least squares algorithm. Finally, a fuzzy PID controller is implemented, enabling the robot to track desired trajectories with parameters dynamically adjusted by the fuzzy logic. Various experimental scenarios are conducted to demonstrate the effectiveness of the proposed control strategy.