Based　on　the　anti-parallelogram　mechanism,　an　approximate　cylindrical　rolling　joint　is　proposed　to　develop　a　novel　cable-driven　snake-arm　robot　with　multiple　degrees　of　freedom　(DOF).　Furthermore,　the　kinematics　of　the　cable-driven　snake-arm　robot　are　established,　and　the　mapping　between　actuator　space　and　joint　space　is　simplified　by　bending　decoupling　motion　in　the　multiple　segments.　The　workspace　and　bending　configurations　of　the　robot　are　obtained.　The　static　model　is　established　by　the　principle　of　minimum　potential　energy.　Furthermore,　the　simplified　cable　constraints　in　the　static　model　are　proposed　through　Taylor　expansion,　which　facilitates　the　equilibrium　conformation　analysis　of　the　robot　under　different　external　forces.　The　cable-driven　snake-arm　robot　prototype　is　developed　to　verify　the　feasibility　of　the　robot　design　and　the　availability　of　the　static　model　through　the　experiments　of　the　free　bending　motion　and　the　external　load　on　the　robot.