近年来，利用形状记忆合金（ＳＭＡ）的形状记忆效应原理制作的驱动器已在机器人领域中得到应用，ＳＭＡ驱动器以其重量轻、结构紧凑、易控制等优点，大大推动了微型机器人的发展．本课题使用所研制的推挽式直线位移型和旋转关节型ＳＭＡ驱动器代替传统的伺服驱动系统，研制了一台三自由度（两个旋转自由度和一个直线自由度）且带末端夹持器的微型平面关节机器人．本文将介绍该机器人的结构设计，控制系统及其软件设计． In recent years, actuators based on shape memory effect of shape memory alloy (SMA) have been applied in the field of robotics. SMA actuators have promoted the development of micro-robots with their advantages of light weight, compact structure and easy control. The subject uses the developed push-pull linear displacement and rotary joint type SMA actuator instead of the traditional servo drive system, developed a three degrees of freedom (two rotary degrees of freedom and a linear degree of freedom) with the end of the holder Micro-plane joint robot. This article will introduce the robot’s structural design, control system and software design.