In SMA(Shape Memory Alloy), the degradation by fatigue is one of the most important problems to be overcome, when SMA is used for robot-actuator materials. The actuator is operated repetitively for long time and its repeating operation develops the fatigue degradation of SMA. The fatigue degradation changes the transformation temperature and deformation behavior and results in inaccurate operation and deformation which results form repeating operation is to be investigated in advance and the scheme to resolve those problems have to be made for the design of actuator. In this paper, for the improvement of the fatigue degradation by repetive movement and better control of the correct movement by the stability of martensite transformation in the development of Robots actuator, Pre-strain(0, 1.5, 5, 8%) are loaded in the specimens and fatigue testing were carried out by the method of heating and cooling in direct condition. From the results of these experiments, the effect on pre-strain which affect the transformation characteristic and fatigue degradation phenomena were correctly investigated.