The work aims to propose a new 2CRU/2PRRR parallel mechanism to solve the problem that the filling mechanism in current on the assembly line is not suitable for bottles with inclination angle. Firstly, a three-dimensional model of the 2CRU/2PRRR parallel mechanism was created with SolidWorks software. The degree of freedom of the mechanism was analyzed by the screw theory and verified by the modified Kutzbach-Grübler formula. Then the kinematics model and D-H method were used to analyze and solve the inverse position solution of the mechanism moving platform. Finally, the corresponding limit boundary search program was programmed with Matlab software, and the workspace of the mechanism was solved by calculation, and the application example of the filling mechanism in the assembly line was given. The results indicated that 2CRU/2P RRR parallel mechanism had one rotational degree of freedom, three moving degrees of freedom. The shape of the workspace was a regular cube, and the interior was continuous without cavity and singular position. The parallel mechanism has simple structure, operation steadily, high performance, and it can completely meet the requirements of movement and working range when filling bottles with inclination angles on the assembly line, thus improving the versatility of the filling mechanism.