Abstract: To realize the winding capture of the target object, a continuum manipulator based on the tensegrity structure is proposed, taking advantages of the characteristics of the tensegrity structure of light weight and high deformability. Firstly, the structure of the continuum manipulator is designed, and its mechanical model is established. By quasi-static and dynamic analysis, the movement of the manipulator in different driving modes is simulated. Then the accuracy of the mechanical model is verified on the experiment platform. Finally, the workspace and singular pose are analyzed. The experimental results show that the designed continuum manipulator can achieve bending and winding deformation, and meet the requirements of winding capture of the objects with different sizes.