Abstarct: Robots can be classified as hard or soft on the basis of the compliance of their underlying materials. In contrast to traditional robots, where the motion of rigid lixnks is provided by common joints, continuum robots provide their motion by deformation of their flexible parts. Soft robots and traditional hard robots use different mechanisms to enable dexterous mobility. Recently jamming as a new way to achieve variable stiffness in manipulators is considered. One impressive advantage of jammable manipulators is the ability to conform to its environment. Dexterity as one of the important parameters has been considered in the design of robots. This thesis aims at analyzing of dexterity of continuum manipulator enabled by jamming of granular media. To achieve the thesis goal, precise understanding of the kinematics, dynamics and control of system are required. Constant and variable curvature has been used for kinematic analysis. Then Dexterity index in a certain path and in entire workspace is determined. While the manipulator mass is uncertain parameters, the adaptive controller is proposed for tracking improvement. Finally dynamic model of jammable manipulator is calculated by using the Lagrange method and verified and simulated in Voxcad software. The effects of pressure and type of grains materials on the manipulator stiffness variation are discussed.