Fig. 1 Schematic of SMA morphing actuator in an arbitrary initial and deformed configurations. Global ( i ^ , j ^ ) and local ( a ^ , b ^ ) coordinate systems are shown along with the positional vector, r → , and the angle, θ ( s , t ) that de... More about this image found in Schematic of SMA morphing actuator in an arbitrary initial and deformed con...

Fig. 2 Flowchart of modeling code architecture showing the connections between the SMA material model and the dynamic beam model, including the main equations used to solve the system More about this image found in Flowchart of modeling code architecture showing the connections between the...

Fig. 4 Experimental and computer-generated renders of 3D printed SMA morphing actuators with 3D printed offset holders. The actuator is symmetrical about the a ^ -axis: ( a ) experimental 3D printed SMA CCS morphing actuator, ( b ) angled view of 3D printed SMA CCS morphi... More about this image found in Experimental and computer-generated renders of 3D printed SMA morphing actu...

Fig. 3 Experimental and computer-generated renders of series combination unimorph actuator with 3D printed offset holders. The actuator is symmetrical about the a ^ -axis: ( a ) experimental series combination unimorph actuator, ( b ) angled view of series combination uni... More about this image found in Experimental and computer-generated renders of series combination unimorph ...

Fig. 5 Experimental results for the constant cross section and varying cross section unimorph actuator tested. From left to right: (1–2) X - and Y -position of the end effector for the experimental actuator and model, and (3) the input current to the SMA, EEE, and RMSE for the configuration over... More about this image found in Experimental results for the constant cross section and varying cross secti...

Fig. 6 Experimental and model results for the initial and maximum deformed configurations for the CCS (left) and VCS (right) actuators More about this image found in Experimental and model results for the initial and maximum deformed configu...

Fig. 7 Experimental results for series combination actuator. From left to right: (1–2) X - and Y -position of the end effector for the experimental actuator and model, and (3) the input current to the SMA, EEE, and RMSE for the configuration over the entire beam: ( a ) experimental resul... More about this image found in Experimental results for series combination actuator. From left to right: (...

Fig. 8 Experimental and model results for the initial and maximum deformed configurations for the series combination actuator with a payload mass of 10 g (top) and 30 g (bottom) More about this image found in Experimental and model results for the initial and maximum deformed configu...

Fig. 9 Maximum deformed configuration and end effector path for the single-sided unimorph actuator (top) and series combination actuator (bottom) More about this image found in Maximum deformed configuration and end effector path for the single-sided u...