The role of residual stress states in modeling the cyclic two-way shape memory behavior of high-temperature NiTiPd alloys and actuation components

•Cyclic TWSM behavior of Ni24.5Ti50.5Pd25 is investigated using a multi-mechanism SMA model.•Effects of residual stress states, training stress and number of training thermal cycles on the TWSME are studied.•Internal state variables of the model allow quantitative measurements of induced remnant internal stresses.•Interplay between the intrinsic internal stress state of the material and extrinsic global residual state of Ni24.5Ti50.5Pd25 actuator beam resulted in significant TWSM rotational actuation strokes.