The work aims to propose a 3-URPR parallel mechanism for the capping process of filling bottles on the production line improve work efficiency and reduce labor force. SolidWorks was firstly used to draw a three-dimensional model of 3-URPR parallel mechanism, and then a coordinate system was established for the parallel mechanism. Based on the screw theory, the freedom degree of the parallel mechanism was solved. And finally, the closed space vector method was used to solve the position inverse solution of 3-URPR parallel mechanism. The Matlab programming was used to solve the reachable workspace of 3-URPR mechanism. Example analysis was conducted on the capping process of this mechanism on the filling machine. The solution showed that the 3-URPR parallel mechanism had 3 degrees of freedom (rotation along the x-axis and y-axis, and movement along the z-axis). The interior working space of the mechanism was continuous and free from cavity. An example of capping on the bottle was given. The mechanism has good performance. It can be used in the production line for the bottle-capping process after filling. It can be used for the bottle-capping process with and without inclination.