Abstract: In order to make the servo pressure machine have good drawing performance, it is necessary to plan its trajectory reasonably. The six-link drive mechanism was dimensionally optimised in the previous work to improve the basic motion performance of the press, while the acceleration and deceleration control of the servo motor and the planning of the motion trajectory of the slider are required in order to give full play to the advantages of the high energy efficiency and high efficiency of the servo press. A trajectory planning method for the main drive mechanism was developed for a large six-link servo press. Firstly, a high-precision kinetic model of the main drive mechanism was established based on the "Coulomb-viscous" friction model. Then, considering the process constraints and requirements in the stamping process, an improved model of servo motor acceleration and deceleration control based on composite trigonometric function was proposed. Finally, the energy consumption and efficiency of the main drive mechanism were analysed. Taking the periodic energy consumption and production beat of the slider movement as the optimization index, the multi-objective optimization function was constructed by linear weighting. The constraints such as manipulator feeding time, maximum speed of the slider, angular speed of the driving part, dynamic limit and thermal limit of the servo motor were introduced, and the multi-objective optimization design was completed by using genetic algorithm. The results showed that after optimization, the energy efficiency of the main transmission mechanism of the servo press in one cycle was increased by 4.54%, the production beat time was reduced by 3.23%, and a good drawing process mode was realized.