It aims to analyze the statics characteristics of packaging parallel mechanism 2-RPU/SPR and other three kinds of 2R1T parallel mechanisms 2-UPR/SPR, 2-UPR/RPS and 2-RPU/RPS derived from its different placement positions of motion pair based on Matlab and make comparison among them. Mathematical model of statics was created by screw theory method for the four parallel mechanisms; and then programming models were established by Matlab software. Statics characteristics were analyzed for the four mechanisms by Matlab in two circumstances. The driving force of 2-RPU/SPR was relatively small compared with other three mechanisms; the equivalent force and driving force of 2-RPU/SPR changed less than the other three mechanisms. Under the same output of mobile platform, 2-RPU/SPR was easier to control and drive, and its flexibility was higher than the other three. Under the same pose of mobile platform, the anti-interference ability of 2-RPU/SPR was better. To sum up, the parallel mechanism 2-RPU/SPR is better than the other three mechanisms. It has more practical application prospect in high precision packaging engineering.