The invention discloses a positive solution determining method of a three-connecting-rod type parallel-structured robot. The three-connecting-rod type parallel-structured robot mainly structurally comprises a motion platform (1), three connecting rods (L1, L2 and L3) and three standing columns (2), wherein the motion platform (1) is connected with the three connecting rods (L1, L2 and L3) through three ball hinges (b1, b2 and b3), the three connecting rods (L1, L2 and L3) are connected with three slide seats (3) through three cylinder hinges (R1, R2 and R3), the three slide seats (3) vertically slide on the three standing columns (2), and the three ball hinges (b1, b2 and b3) form a regular triangle. The positive solution determining method has the advantages that random setting of initial solutions is performed by a Monte-Carlo method, all possible solutions are acquired through a large amount of random sampling, a motion platform position and pose diagram is drawn, and accordingly solution reasonability can be judged visually and conveniently; the method is academically significant to and has practical value on 3-PRS parallel robot working space design, analysis and optimization and promoting wide application of the 3-PRS parallel robot to industrial production.