This study aimed to optimize the cam profile of gripping pack mechanism. The one-to-one relationship between movement role of the top of the mechanism and the cam profile was obtained by analyzing the degree of freedom. The simulation study was carried out by using ADAMS based on the one-to-one relationship. The cam theory profiles of different combination of time were recorded. The optimal cam theory profile parameter was achieved by researching the pressure angle and curvature. After the optimization, the transition parts of displacement curve, speed curve and acceleration curve were more fairing. The speed of hovering absorbing pack was zero, indicating the improvement of reliability. Taken together, reverse optimum design for gripping pack mechanism based on ADAMS is feasible， which showed highly reliable result and apparent effect.