In order to overcome the shortages of complex structure and too much parameters of double five-bar transplanting which are difficult to be solved by traditional analytical method, the working principle and kinematics model of rape pot seedling were analyzed. Also a multi-objective optimization design model was established. The calculation and parameter analysis were carried out with Matlab software. And the kinematics characteristics of double five-bar transplanting mechanism were analyzed, which matched with the solving results of the multi-objective optimization design model. The consistency verification experiment was carried out by high speed photography system. The result showed that both of transplanting spacing and locus height of the rape pot seedling transplanter were 300mm, with the forward speed of 0.3m/s and transplanting frequency of 60 seedlings per minute. The displacement between buried locus and unearthed locus was less than 0.91mm with the transplanting depth within the range of 60~100mm, which revealed the good verticality and coincidence between them. The horizontal velocity of duckbill-type planting unit was 0.04m/s at the lowest point of the transplanting locus, and the swinging angle was in the range of -2.3°~ 2.3° at planting stage, which were benefit for planting. In falling stage, the swinging angle of duckbill-type planting unit was in the range of -2.4°~2.2° and the vertical velocity was less than 0.7m/s, so that the vertical displacement was too small to catch the seedling for duckbill-type planting unit. The demands of rapeseed mechanized transplanting could be met with proposed method.