通过建立递纸牙数学模型，分析了高速递纸牙的边界条件要求。以七次多项式设计为例，修改了高速递纸牙原设计的边界条件。计算结果表明，对机构运动参数的优化作用显著。通过模拟仿真进行了实验验证，结果表明，边界条件对递纸机构稳定性和速度会产生影响。

Mathematical model of paper transfer gripper was established and the boundary conditions of high-speed paper transfer gripper were analyzed. The boundary conditions of the original design of high-speed paper transfer gripper were modified with an example of seven order polynomial design. Calculation results showed that the optimization effect of motion parameters is remarkable. Simulation was carried out for verification. The simulation result showed that modification of the boundary conditions can affect stability and speed of paper transfer gripper.