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Shape memory alloys (SMAs) are a group of metallic alloys capable of sustaining large inelastic strains that can be recovered when subjected to a specific process between two distinct phases. Advantages of SMAs - reasonable strain, high energy density, mechanical simplicity, and long work-life render them ideal for actuator applications. Especially, Self-folding origami require high angular motion ranges and low-profile actuators within limited space. Current applications demonstrated the capacity of millimeter-sized torsional SMAs (T-SMAs) for bi-directional rotational motion, but no comprehensive design method for such actuator can be found in the existing literature. To broaden applications of actuator designs, we introduce an inverse design model according to a geometrico- static demand. We couple the geometrical and mechanical properties of torsional SMAs considering assembly and working conditions to construct the design model. We also illustrate a comprehensive mechanical performance characterization for millimeter-sized torsional SMAs and BRM actuators.
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