This research is a study of using a Shape Memory Alloy (SMA) as an actuator in a robotic application for a 6 Degrees of Freedom (DOF) Stewart Platform. Conventional actuators such as hydraulics, pneumatics and mechanical will be replaced by a new breed of technological advancement of SMA wires. The focused area of study is on a mini sized Stewart Platform which eliminates bulky conventional actuators. Hence, SMA will have the distinctive advantages over the other types of actuators. The mini Stewart Platform consists of a fixed base and a platform connected with specially designed SMA actuators along with a counter force spring. The support post for the platform uses a counter force spring material viz. sponges. Further study includes the design of a Pulse Width Modulation (PWM) technique power supply circuit for the controlling the current to increase the temperature of the heat sensitive wires. For the SMA wires, the cooling system serves as an important role to ensure the wires return back to its original length without any damage after they had been stretched out. Kinematic studies have been carried out to achieve required displacements of the platform. © 2011 Asian Network for Scientific Information.