Abstract: This paper describes a new technique of gripper actuator using shape memory alloy spring has been fabricated .By applying electric power to the shape memory alloy spring i.e by being safely heating it has an ability to retain their original shape from fabricated shape i.e in austenite phase. When the power supply is off, Steel spring which compress the shape memory alloy spring to its fabricated shape. Thus Experimental results shows the rack and pinion to extract and retract in control motion would actuate the gripper to pick and place an object.