Abstract This paper describes derivation of a static mechanical equilibrium model of a both-ends-fixed type of Rubberless artificial muscle and joint angle control of a manipulator driven by it. The Rubberless artificial muscle is a new artificial muscle we proposed to improve problems attributable to the deterioration of traditional rubber artificial muscles. As a construction material, it uses a sheet in substitution for rubber. The sheet neither expands nor contracts. This Rubberless artificial muscle has characteristics resembling those of other artificial muscles. Because of its exclusion of rubber material, the Rubberless artificial muscle can be driven by low pressure. In this paper, we derived a static mechanical equilibrium model of a both-ends-fixed type of Rubberless artificial muscle and confirmed its validity. Additionally, we conducted joint angle control of the manipulator, and confirmed the possibility of the application to the mechatronics of the Rubberless artificial muscle.