A novel hyper-redundant manipulator named RT1 is presented in this paper. The key feature of RT1 is that all degrees of freedom (DOF) are actuated with only one motor, via specially designed hinge bar universal joints. The mechanism of RT1 which includes a special hinge bar universal joint, bend structure and motion diversion structure is described. RT1 is a discrete manipulator; the discrete working space is described, and the parameter optimization for kinematical redundancy resolution is also studied. In selecting the unit increment of joints angles as an optimizing parameter, the criterion used is to alter the design parameter as little as possible during the manipulator’s motion from the initial to the expected position.