Cardiopulmonary Resuscitation (CPR) is a vital emergency procedure that restores cardiac activity and breathing in patients suffering sudden cardiac arrest. However, manual CPR is prone to inconsistency due to rescuer fatigue and uneven compression force. This study presents the *design and modeling of a Pneumatic Artificial Muscle (PAM)-based robotic CPR mechanism* intended to achieve medical-standard compression depths of 45–55 mm. A CAD model of the triple-PAM system was developed and analyzed under different pressure conditions to evaluate displacement, stress, and deformation. The results reveal that the 20 mm Festo pneumatic cylinder provides optimum motion characteristics with uniform load distribution and repeatable compressions. The proposed system demonstrates the feasibility of using PAMs as soft actuators for automated CPR, paving the way for future prototype development and medical validation.