Well, Inkscape and AI are two good vector graphics editors (I use Inkscape myself) but to make things look good, you really need to have art skills. Also, if you want bone based animations, you're most likely going to have to write something yourself because I dont know of any solutions for that. However, to animate (hand made) you can just make spritesheets with whatever vector program you're using and copy the sprite and make your own sheet, changing each copy.
Also, heres a link on how to do skeletal animations
http://www.catalinzima.com/2011/06/2d-skeletal-animations/