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 ? 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%.