A method for the forward position solution of the modular hybrid hyper-redundant robot is presented.The symbolic solution for the forward position of basic module 3-RPS parallel manipulator is obtained by using the Sylvester resultant elimination method.The output platform and fixed platform position relationship of the n（3-RPS） manipulator is gotten by the homogeneous coordinate transformation matrix.The method

using a numerical examples for the analysis of the position and orientation of the 4（3-RPS） hyper-redundant

is given to demonstrate the validity of the method symbolic solution.