According to the topology design theory of parallel mechanism based on the position and orientation characteristics (POC), two three-degree-of-freedom (3-DOF) two-translation-one-rotation (2T1R) parallel mechanisms(PMs) with zero coupling degree and partial motion decoupling were designed, which had the same type and number of kinematic pairs, but the distribution order was different in the branches. Firstly, the main topological characteristics of these two PMs, such as orientation, DOF and coupling degree, were analyzed, and their topological analytical expressions were given. Secondly, according to the kinematic modeling principle based on topological characteristics, the symbolic forward and reverse position solutions of the two PMs were solved, and the workspace, singular conditions and configurations of the two PMs were analyzed respectively. At the same time, according to the single-open-chain method based on virtual work principle, the reverse dynamics of the two PMs were established, and the actuated forces of the two PMs were obtained respectively. Furthermore, the kinematics and dynamics performances of the two PMs were compared, and the optimal PM was suggested. Finally, the conceptual design of the application scenario of the optimal PM used for intelligent sorting and conveying in fruit deep processing was given. The research result can provide a technical basis for the structural design and practical application of this mechanism.