Various embodiments relate to a method of planning asymmetric variable acceleration based on non-linear finite element dynamic response simulation. The planning method involves obtaining solution of a non-linear finite element model positioning process that has kinematic freedom and adopts a parameterized motion function as its boundary condition; determining whether post-driving amplitude of an execution end satisfies positioning precision, and if it does not, continuing getting solution, and if it is, adjusting an energy decay time; determining whether a target response time is minimum, and if it is, verifying the set motion parameter as optimal, and if it is not, calculating a gradient and a step size of the motion parameter, and resetting the motion parameter for solution. The present disclosure utilizes this method to plan high-speed high-acceleration motion for mechanisms that are affected by non-linear factors such as large flexible deformation and require precise positioning.
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