Abstract: Recently Shape Memory Alloy(SMA) actuators which make use of the principle of shape memory effect are widely applied in robot SMA actuators have light weight and compact structure, and they are easy to control. Their application to robot has-promoted the development of microrobot. In this paper, a planar articulated microrobot with on end effector that has three degrees of freedom(two rotary and one linear) is developed. The general structure design of the microrobot is introduced, and the control system and software are presented.