This　paper　presents　a　novel　wire-driven　continuum　picking　manipulator　which　own　the　hollow　structure　for　transporting　the　object　along　its　internal　space,　such　as　harvesting　the　fruits,　conveying　liquid.　In　order　to　map　the　motion　of　the　manipulator,　the　kinematics,　instantaneous　kinematics　and　workspace　are　analyzed.　In　addition,　the　kinematic　performance　with　different　posture　is　discussed　based　on　dexterity　index　by　Jacobian　matrix　decomposition.　Further,　several　typical　trajectories　are　experimented　based　the　inverse　kinematics　in　different　region　of　workspace.　The　results　demonstrated　that　the　wire-driven　continuum　picking　manipulator　own　favorable　motion　performance.　©　2019　IEEE.