The development of parallel robot technology puts forward higher requirements for its motion performance， in which the forward position solution problem is closely related to performance characterization， performance improvement and so on. It has received widespread attention since the 1980s. Due to the strong nonlinearity and multiple solutions of the forward kinematics equations， this problem has not been completely solved at present， and it is still the focus of research in the field of robotic mechanism. Firstly， from the perspective of method principles， this paper expounds the research status and characteristics of forward position solution at home and abroad， analyzes the core ideas of the solution algorithms， and excavates the fundamental problems faced in the research. Secondly， from the perspective of method characteristics， the advantages， disadvantages and applicability of the forward position solution methods are compared and analyzed. Finally， on the basis of summarizing the existing research methods of forward position solution of parallel robots， the future development direction is prospected， which provides a reference for the research in the field of robotic mechanism.