An iterative method for solving the inverse of reconfigurable hydraulic self servo robot was proposed. A definition of reconfigurable hydraulic self servo robots was gave,two adjacent power module optimum connection table was obtained. The connection between the three power modules was discussed, DH parameters library one was established, and the DH parameters library two was established according to the connection mode between the power module and the end executor. The mathematical model of mechanical arm was introduced and a configuration was selected, DH parameters was determined according to the configuration, and the configuration of the forward kinematics equations was obtained.Finally the inverse of reconfigurable hydraulic self servo robot with the iterative method was gained. To verify the feasibility of the inverse iteration method for robot motion, the simulating test was proceeded by ADAMS software. The simulation results show that using the iterative method for solving the kinematics inverse of reconfigurable hydraulic self servo robot is feasible, and the iterative method is applicable to any configuration of the inverse solution.