A simple method for forward displacement analysis of a kind of 5-5 in-parallel robot is presented, after its structural characteristic has been disclosed. First of all, the parallel robot was decomposed into three single-opened chains (SOCs). Secondly, the dimension of its kinematic equations was reduced to the minimum by considering kinematic model of the three single-opened chains. Then, all the real solutions to the kinematic equations were obtained using one-dimension searching algorithm. At last, a numerical example with 20 real solutions was given for the first time and provided to confirm the efficiency of the solution procedure.