To address the problems of poor flexibility, low load capacity, and insufficient structural rigidity of the existing in-situ inspection robots for aero-engine blades, a rope-driven adsorbable continuum robot is designed to solve the contradiction between high flexibility and low rigidity of the continuum structure. Based on the characteristics of the leaf environment and the mechanism of octopus tentacle adsorption, the robot consists of multiple mortise-and-tenon flexible joints connected in series with pneumatic pressure adsorption units, which enhances the structural stiffness and prevents deformation and destabilization through active adsorption. The kinematic model is formulated based on the improved D-H method and the Euler transformation principle. The mapping relationship between its bending deformation and structural parameters is analyzed. The structural stiffness and deformation characteristics are analyzed by using finite element ANSYS. The experimental platform evaluates the proposed kinematic model and control performance. Compared with the traditional continuum structure, the results show that the maximum load of the robot reaches 4. 42 N, and the end position deviation under the same load is reduced by 78% and 57. 5% , respectively. Thus, the correctness and validity of the proposed adsorbable continuum structure and the proposed model are verified. Keywords:continuum robot; aero-engine blade inspection;