To solve the problems of large opening of vegetable plug seedling up-film transplanting and low planting frequency, a compound crank-rocker type double-row planting device on film was developed. This planting device was designed for pepper pot seeding. And the kinematics model of the planting mechanism was established, its trajectory and motion equation were also calculated. The influences of different parameters on planting trajectory and movement characteristics were explored. By using the simulation analysis and optimization program written by Matlab software, the optimized length of rods were obtained as follows: lOA=48mm, lAB=125mm, lBC=160mm, and lAD=200mm. According to the optimized length of the rods, the planting mechanism was designed, and the 3D modeling and virtual simulation verification were also completed by using Creo software, after completed the manufacturing of prototype, the field experiment were carried out. The results showed that the qualified rates of planting on film were all more than 90%, and the qualified rates of planting depth were more than 94%, the maximum variation coefficient of plant spacing was 6.35%, and the average length of membrane hole was 10.44cm, the damage rate of the planting mechanism on the film was about 18%, and the planting frequency reached 70 plants/(min·row), which met the requirements of vegetable up-film transplanting.