Fig. 4: Typical large-stroke SMA actuators.
From: Wire-form shape memory alloy actuators: modeling, design, and control
a SMA rotary actuator based on a modular rotating wheel system. Reproduced from ref. 90 under the terms of the Creative Commons Attribution 4.0 International license (CC-BY 4.0); b SMA wire actuator with a curvilinear layout. Reproduced from ref. 86 under the terms of the Creative Commons Attribution 4.0 International license (CC-BY 4.0); c SMA wire actuator employing a movable pulley block. Reproduced from ref. 91 under the terms of the Creative Commons Attribution 4.0 International license (CC-BY 4.0); d SMA wire actuator utilizing a fixed pulley block. Reproduced from ref. 92 under the terms of the Creative Commons Attribution 4.0 International license (CC-BY 4.0)
