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. Author manuscript; available in PMC: 2018 Aug 1.
Published in final edited form as: IEEE Trans Robot. 2017 Mar 29;33(4):986–993. doi: 10.1109/TRO.2017.2679199

TABLE II.

Heat Transfer Parameters

Parameters Symbols Units Values
SMA spring wire
Wire diameter ds m 0.75 × 10−3
Coil diameter Ds m 6.5 × 10−3
Resistivity βs μΩ·m 0.44
Density ρs kg/m3 6450 [29]
Thermal conductivity ks W/(m·K) 18 [30]
Specific heat capacity Cs J/(kg·K) 466 (heating) −260 (cooling)
Latent heat (heating) Lsh J/kg 12188.1
Latent heat (cooling) Lsc J/kg −4137.6
Air
Temperature Ta K 300
Thermal conductivity ka W/(m.K) 0.0263
Expansion coef. βa 1/K 3.43 × 10−3
Kinematic viscosity νa m2/s 15.89 × 10−6
Thermal diffusivity αa m2/s 22.5 × 10−6
Water
Temperature Tw K 300
Prandtl number Pr - 5.83
Thermal conductivity kw W/(m.K) 0.613
Kinematic viscosity νw m2/s 8.6 × 10−7