In this paper, we present a novel modular hyper-redundant robotic arm designed for space exploration. The modular architecture facilitates easier maintenance and upgrades during long-term missions, while the redundant degrees of freedom (DOFs) enhance system reliability and durability. This reduces the need for frequent maintenance and replacement, ultimately extending the equipment’s service life. The design aligns closely with the objectives of the Sustainable Development Goal 9 (SDG9), promoting innovation and sustainable infrastructure. This robotic arm consists of two types of modules: a newly developed structurally redundant parallel mechanism with three translational DOFs based on an improved Delta robot, and a 3-RRR decoupled spherical parallel mechanism [1]. The forward kinematics of the translational module is established, followed by the development of the forward kinematic model for the entire hyper-redundant robotic arm. Finally, the workspace of the translational module and a five-modules hyper-redundant robotic arm is analyzed. The results indicate that each module of the robotic arm has independent DOFs, which simplifies the kinematic model and reduces the overall complexity of the hyper-redundant manipulator. Besides, the robotic arm can achieve a larger workspace and flexibility due to its numerous redundant DOFs.