The planar-cam type pick-and-place device can clearly and effectively achieve the desired curvilinear motion of its end effector, and it can be designed and fabricated easily. By employing the concept of velocity instant center, the cam profiles, the paths of cutters, the pressure angles and the radii of curvature of the dual cams of the planar-cam type pick-and-place device can be expressed parametrically. The cam profiles may have concave portions, and each minimum radius of curvature of the concave portion of the dual cam profiles is the upper bound of the grinding-wheel radius that may not cause undercutting.