The work aims to propose a new 2-RPS/UPRS parallel mechanism to solve the problems that manual sorting is mostly used in current logistics industry and consumes a lot of labor costs. The freedom analysis of the mechanism and working space simulation were carried out to verify whether the 2-RPS/UPRS parallel mechanism has a larger working space. Based on the spiral theory, the degree of freedom of the spatial parallel mechanism was analyzed. The model was established in 3D software, and the appropriate drive was added to verify the degree of freedom. By comparing the closed-loop vector method with the D-H matrix representation of motion branch chain parameters and the attitude Euler angle transformation matrix, the inverse position solution of the mechanism moving platform was solved. Finally, the simulation analysis of the working space was carried out in Matlab procedure. The end actuator of 2-RPS/UPRS parallel mechanism had 2 degree of freedom of rotation and 2 movement directions. The working space had a regular shape, without singular form. The sorting device based on 2-RPS/UPRS parallel mechanism has simple structure and can realize precise control on the production line. The motion characteristics of the parallel mechanism with two rotation freedom and two movement directions can adapt to the sorting tasks with different inclined angles.