This research investigates the implementation of electroactive polymer (EAP) actuators for the propulsion of a robotic fish. An efficient manufacturing procedure is developed which uses a combination of stencil printing and inkjet printing to manufacture P(VDF-TrFE-CTFE) actuators. The influence of layer thicknesses is studied theoretically and experimentally, in order to optimize the actuation output. The effect of the fabrication process on the EAP breakdown strength is studied as well. Unimorph cantilever actuators were successfully produced on both Novele and PEN substrates. Layer thickness of the EAP
layer was controlled by changing the stencil thickness, producing layers ranging from 5 - 24 µm. A maximum quasistatic tip deflection of 760 µm was achieved for an 18 mm cantilever actuator at 560 V. Operating at the resonance frequency of 52 Hz, a 5.59 mm displacement was attained. Subsequently, a robotic fish with a length of 60 mm was designed with an integrated EAP actuator in the tail. In addition to the actuator manufacturing procedure, the fish was coated with silicone and attached to a floating device in order to perform experiments in water. The fish tail showed clear deflection underwater, especially when operating at the resonance frequency. However due to limitations related to the underwater operations and a large resisting force of the floating device and connected wires, propulsion power was insufficient to propel the robotic fish.