This work aims to propose a methodology for designing the variable input speed trajectory of six-link presses fulfilling functional and energy-saving requirements, hence the presses not only can generate the motion that meets kinematic and dynamic requirements, but also consume minimum electric energy. First, kinematic analysis and dynamic analysis are conducted by the vector loop approach and the Lagrange approach, respectively. Then, the mathematical model of the system including the servo motor and the press is established, and the Electro-mechanical equation of the system is also derived. After then, optimization is performed for finding variable input speed that meets the objective functions of energy-saving and performance. Furthermore, the transfer function of the system is found by conducting a system identification experiment, and then the PID controller design is performed. Finally, computer simulation is carried out to verify the feasibility of the proposed method. The simulation results show that the variable input speed designed by the proposed approach can effectively reduce the input electric power and meet the kinematic and dynamic requirements simultaneously. Therefore the proposed method is feasible.