The dynamic analysis was carried out and the wheeled transfer mechanism with movable claws was optimized to fit the servo driving system. The paper discussed the design process of the cam mechanism, established the three-dimensional model, and analyzed the dynamic characteristics of the transfer mechanism through virtual prototype technology. According to the characteristics of the workload, the cam curve was optimized using the genetic algorithm. The dynamic fluctuation of load torque was reduced from 7.7751 to 5.6696 N·m. The dynamic fluctuation of load torque could be reduced evidently by optimizing the resistance moment, the requirement of servo motor performance was also reduced, and the synchronization accuracy of the system was improved.