Vibration　of　a　working　continuum　manipulator　greatly　hinder　its　extended　applications.　The　vibration,　which　concerns　the　manipulator＇s　elongation　and　bend,　cannot　be　calculated　mathematically,　so　it　is　difficult　to　suppress　the　vibration.　This　paper　develops　a　manipulator　platform　with　variable　length　continuum　to　measure　the　acceleration　at　the　end　point　of　the　continuum　manipulator;　the　experiments　are　carried　out　under　different　elongations　and　poses　with　a　given　traction　length.　The　vibration　characteristic　parameters　of　the　continuum　manipulator　are　calibrated　by　parameter　identification　method.　The　first-order　damped　natural　frequency　and　attenuation　coefficient　are　calibrated　under　different　elongations　and　poses　parameters　in　order　to　obtain　their　functions　with　the　elongation　L　and　bending　angle　θ　of　the　continuum　manipulator.　When　substitute　the　measured　angular　velocity　into　the　functions,　a　complete　continuous　body　arm　vibration　equation　is　deduced.　Finally,　the　vibration　equation　of　the　end　point　is　verified　by　experiment.　The　error　is　less　than　10%.　©　2018,　Editorial　Department　of　JVMD.　All　right　reserved.