Drossel, Welf-GuntramWelf-GuntramDrosselZorn, WolfgangWolfgangZornBucht, AndreAndreBuchtKunze, HolgerHolgerKunzeEttrichrätz, MartinMartinEttrichrätzPagel, KennyKennyPagel2022-03-052022-03-052015https://publica.fraunhofer.de/handle/publica/24123210.1016/j.mechatronics.2015.07.011Shape-Memory-Alloys (SMA) are suited for miniaturized drives since they possess a high specific workload and scalability. However, most SMA drives still require guidance to realize stiffness. But, there is a design approach for actuators which realize both. Here, the stiffness in the non-moving directions is achieved by the arrangement of the SMA as wire robot. This paper presents a general description of such actuators. Based on that the design of such actuators is formulated as a mathematical optimization algorithm providing a correlation between the variables for design and specification. In order to evaluate this approach, a rotary and a linear actuator are designed and experimentally investigated.enShape-Memory-Alloysactuatorswire-robotinherent guidance functionadaptive control621journal article