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.