目的 针对包装生产线上需对食品、电子元器件等产品进行分拣的功能需求，提出一种新颖的(2-RPU/RPS)&R混联机构。方法 基于螺旋理论建立2-RPU/RPS并联机构的螺旋矩阵，并用修正的Kutzbach-Grübler公式对所得自由度数进行验证。通过机构的结构特征建立约束方程，并采用闭环矢量法求出机构的位置逆解。然后利用粒子群优化(PSO)算法分析机构的位置正解。最后采用数值搜索法求解机构的可达工作空间。结果 (2-RPU/RPS)&R混联机构具有4个自由度(3R1T)。在PSO算法实例中，分析得到了动平台位置正解的数值解和适应度曲线，工作空间连续且无空洞，满足分拣活动范围的需求，在给出的应用实例中表明(2-RPU/RPS)&R混联机器人能很好地应用于手机包装生产线中物体的分拣和抓取等工作。结论 (2-RPU/RPS)&R混联机构运动学性能良好、工作空间大、运行平稳，适用于包装生产线上具有不同方位的物品的分拣功能需求。

The work aims to propose a novel (2-RPU/RPS)&R hybrid mechanism for the functional requirements of sorting food, electronic components and other products in the packaging production line. The screw matrix of 2-RPU/RPS parallel mechanism was established based on screw theory. The degree of freedom of the mechanism was verified by modified Kutzbach-Grübler formula. Then, the constraint equations were established by the structural characteristics of the mechanism, and the inverse position solution of the mechanism was solved with closed-loop vector method. The particle swarm optimization (PSO) algorithm was used to analyze the forward position of the mechanism. Finally, the workspace of the mechanism was solved by numerical search method. (2-RPU/RPS)&R hybrid mechanism had four degrees of freedom (3R1T). The numerical solution and fitness curves of the forward position solution of the moving platform were obtained in the given PSO algorithm example. The workspace was continuous without cavities, which could satisfy the requirements of the sorting range. In given example, (2-RPU/RPS)&R hybrid robot can be applied to sort and grab objects in mobile phone packaging production line. (2-RPU/RPS)&R hybrid mechanism has good kinematic performance, large workspace and stable operation, which is suitable for the sorting function requirements of objects with different orientations in the packaging production line.