You can draw, that's half the battle.
Now you need to learn to actually animate it. If you don't like to do much frame by frame, but you don't mind a lot of drawing, observe how Andrew animates. Yes he has done some frame by frame, but it's also a lot of tweening effects with constantly renewing drawings. You obviously don't mind the whole drawing a lot bit, but you probably do mind the animating it a little. I'm just opening an easy way for good artists to animate. Another way is like NALO's style. He draws really well for the symbols, but to animate it, he tweens separated limbs. After a while, there will be enough symbols to animate without having to draw new ones.
Also, when drawing, use the pencil tool and use different thicknesses, that way it will still look the way you originally wanted, just without the access lines which you can remove with ease. For me, I sketch out the drawing with my Graphire 3, then I make a new layer and draw with the line tool over it, keeping it in proportion, but really nice. It's taking me so long that I STILL don't have any flash done. Also, that could also be because of all of the unfinished movies I started. Anyway, I hope to see more of your work with these improvements.