A mathematical model for shape memory actuators has been developed.
It accounts for thermal, material (chemical and mechanical), and kinematic
properties as separate attributes, which once interconnected account for
the input-output properties of this type of actuator. A software package
has been written which is sufficiently flexible to be used as (a) a simulator
to study controllers, (b) a design tool to find the dimensions of a given
actuator with given constraints. Work is in progress to develop an engineering
model suitable for control design.