Continuum robots can be applied to large-scale harvester fault detection, which can decrease or avoid the economic loss from the equipment faults during the working process. In this paper, an agricultural continuum robot is proposed for fault detection in large-scale harvesters. Based on the bio-structure of the Octopus tentacles, an improved continuum robot is developed for harvester fault detection in agriculture. Kinematic analysis is conducted to obtain the working parameters. An ideal control operation system with sensor nets is applied to control the whole continuum robot. A prototype is manufactured using 3D-printed parts. Results show that the proposed design can satisfy the requirements and is properly structured. Some experiments will be conducted to evaluate the work performance of the proposed agricultural continuum robot.