The work aims to propose a 2-RPU/2-SPU parallel mechanism to solve the problem of labor cost and improve the degree of automation on the logistics line, in view of the need for sorting and handling of a large number of express items. Firstly, the degree of freedom of 2-RPU/2-SPU mechanism was analyzed with screw theory to obtain the motion constraints of the mechanism. The position inverse solution of the mechanism and the mutual constraints between limbs were obtained with closed-loop vector method. Through inverse solution and constraint, the motion of the mechanism was simulated, and the reachable working range of the mechanism was obtained. The 2-RPU/2-SPU parallel mechanism had four degrees of freedom (2R2T), namely, two rotations along xa and ya respectively and two translations along ya and za respectively, which made the mechanism more flexible and had a large range of workspace, and there was no singularity in the process of mechanism motion. The 2-RPU/2-SPU parallel mechanism has large working range. It can perform the sorting work on the logistics line. In addition, it can realize fast and accurate control in the sorting process. It has relatively flexible working process and good motion performance, among which the motion performance of 2R2T can better adapt to the sorting when the sorting mechanism is placed in an incline position.