  This study presents the analytical modeling of a fiber-reinforced tubular
conducting polymer (FTCP) actuator. The FTCP actuator is a low voltage-driven
electroactive polymer arranged in an electrochemical cell. The electrochemical
model is developed following an electrical circuit analogy that predicts the
charge diffused inside the actuator for an applied voltage. An empirical
relation is applied to couple the two internal phenomena, viz., diffusion of
the ions and mechanical deformation. Further, the finite deformation theory is
applied to predict the blocked force and free strain of the FTCP actuator. The
developed model is consistent with existing experimental results for an applied
voltage. In addition, the effect of various electrical and geometrical
parameters on the performance of the actuator is addressed.
