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Continuum robots are becoming increasingly popular for applications whichrequire the robots to deform and change shape, while also being compliant. Acable-driven continuum robot is one of the most commonly used type. Typicalcable driven continuum robots consist of a flexible backbone with spacer disksattached to the backbone and cables passing through the holes in the spacerdisks from the fixed base to a free end. In most such robots, the routing ofthe cables are straight or a smooth helical curve. In this paper, we analyzethe experimental and theoretical deformations of a 3D printed continuum robot,for 6 different kinds of cable routings. The results are compared for discreteoptimization based kinematic modelling as well as static modelling usingCosserat rod theory. It is shown that the experimental results match thetheoretical results with an error margin of 2%. It is also shown that theoptimization based approach is faster than the one based on Cosserat rodtheory. We also present a three-fingered gripper prototype where each of thefingers are 3D printed continuum robots with general cable routing. It isdemonstrated that the prototype can be used for gripping objects and for itsmanipulation.

3D printed cable-driven continuum robots with generally routed cables: modeling and experiments