According to the requirement of the end-effectors, the cam profile of pushing mechanism of fruit net machine was designed and error analysis was analyzed based on ADAMS. The position curve of the follower with respect to the center of the cam follower was obtained by using the positive and inverse dynamics of ADAMS. The cam contour curve was obtained by the inversion method and the create trace spline function of ADAMS. The displacement, velocity and acceleration curve of the end-effectors were obtained. Compared with the theoretical value, the results showed that the cam profile meet the requirements of the trajectory, and the error was very small, and the causes of the error were analyzed. The cam contour method is suitable for the design of other trajectory, the method of design of cam profile curve with convenient, quick and high accuracy is obtained.