In view of the fact that a large number of articles in the packaging require stacking and handling, while the end of the production line automation degree is not high, a 2-RPU/UPS parallel mechanism is designed for sorting and picking in the packaging field to improve work efficiency. First, draw the 3D diagram of the mechanism with Solidwork software. Then the degree of freedom of the mechanism is analyzed according to the spiral theory, and it is verified by the modified K-G formula. Next, the closed position vector method is used to obtain the inverse position solution of the mechanism. According to the inverse position solution and the mutual constraint conditions between the mechanisms, the accessible working space of the mechanism is calculated by using Matlab software programming. The 2-RPU/UPS parallel mechanism has 3 degrees of freedom which include two revolutions (rotation around the x-axis, y-axis) and one movement (movement along the z-axis direction). It also has a large working space, and there are no ambiguities during the exercise. The mechanism has a large working space, many degrees of freedom, flexible movement, and good motion performance, and can be used for Stacking and handling in packaging field.