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Voluntary muscles are the muscles that can be controlled consciously, and are made up of cylindrical fibres. Generally, these muscles are attached to bones of the skeleton, thus called the skeletal muscles. Skeletal muscles are striated and are made up of multinucleate cells.
A voluntary muscles usually works across a joint. It is attached to both the bones by strong cords called tendons. When the muscles contracts, usually just one bone moves. For example when the biceps in the arm contracts, the radius moves but the scapula does not. When a muscle contracts, usually just one bone moves. The other is stationary. The origin is where the muscle joins the stationary bone.