A double cam-four-bar combination mechanism was proposed based on the analysis of actuator position and attitude in paper-picking process. By using higher order polynomial and arc combination curve, the contour equation of the main drawing of high-speed paper-picking mechanism with higher order reciprocal continuity and smaller absolute value was obtained. The radius of base circle and the motion angle of cam were analyzed with the aim of pressure angle and angular acceleration of main cam. The results showed that using higher order polynomial and arc combination curve as the main cam contour equation could meet the requirements of the position and attitude of the high-speed paper-picking mechanism actuator. Appropriate radius of base circle and cam motion angle could further reduce the cam pressure angle and angular acceleration.。