This　paper　is　to　explore　the　motion　accuracy　of　a　novel　picking　robot　constructed　by　wire-driven　continuum　structure　and　liner　screw　platform.　The　continuum　structure　features　the　hollow　configuration,　by　which　the　object　could　be　transported　along　its　internal　space,　such　as　fruits　harvesting.　For　discussing　the　precision　theoretically　and　driving　the　presented　robot,　the　kinematic　model　and　workspace　were　established,　also　the　instantaneous　kinematics　based　on　Jacobian　matrix　was　analyzed.　Further,　the　motion　precision　with　different　postures　in　the　workspace　were　analyzed　based　on　dexterity　index　by　decomposing　Jacobian　matrix.　Finally,　as　a　typical　tracking,　the　circular　trajectory　are　deployed　for　demonstrating　the　theoretical　modelling　through　the　simulations　and　experiments　in　different　region　of　workspace.　The　results　of　comparison　of　experiments　and　planned　trajectories　showed　that　the　average　error　of　the　end　point　is　about　2.538%　with　the　proposed　method　by　adjust　the　position　of　robot　into　a　higher　precise　region,　while　without　adjusting　the　robot＇s　position,　the　average　error　of　the　end　point　reached　4.537%.　The　proposed　method　could　be　extended　to　a　control　strategy　for　rigid-flexible　coupled　robot.