The SMA project culminated in a 3-DOF manipulator entirely fabricated with an Objet 3D printer, and actuated with our patterned sheets of SMA. Everything, including the springs, can be printed in a single job, completely assembled. Of course it's more advisable to separate a few of the parts to minimize on support material needed, and to attach the SMA more conveniently.
Here's the entire assembly built for testing in the real world.
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