Abstract: The continuum robot, which is different from the traditional rigid robot, consists of a flexible structure, and becomes a research hotspot in the field of robots, because of its good flexibility and adaptability in complex environments. Due to the advantages of the continuum robot, it can be applied in medication, exploration and agricultural operations. A cable-driven dual-arm continuum robot with three-degree freedom was proposed. The kinematics of posture parameters and driving parameters were established, and the dual-arm coordinated reachable work space was described according to the principle of constant curvature deformation, on the basis of which, the theoretical motion model of the continuum robot was simulated by using MATLAB, and experiments of the posture and the trajectory of the free-end of the dual-arm continuum robot was conducted on the prototype to verify the accuracy of the theoretical motion model. The factors influencing the experimental and theoretical errors of the robot were analyzed, and the theoretical and experimental errors of the trajectory and posture were no more than 5.9%.