This letter describes the development of a planar multi-closed-loop hyper-redundant manipulator. The proposed manipulator consists of two extendable tape springs and several inner tube rods. As the tape springs can be wound, the manipulator achieves a large workspace with a small footprint. The inner tube rods are arranged between the two tape springs, providing the manipulator with a triangular-lattice structure in which the inner tube rods and tape springs are subjected to purely axial loads. By controlling the two fixed drive components and eight mobile drive components in the manipulator, various redundant configurations can be produced. The kinematic model of this manipulator is established, and a configuration planning approach based on optimal stiffness is proposed. Simulations are conducted for three different cases, and a prototype is fabricated and tested to validate the proposed design and method.