Abstract: In order to guarantee transplanting effect of seedlings better, in this paper, the working process of cantilever cup vegetable transplanter were introduced, and its kinematic analysis was carried out to obtain the velocity equation of the seedlings in the transplant process. According to the theoretical results, the structure of key components, such as ground wheel, planting wheel, planting apparatus, and so on, was designed reasonably, and the prototype was manufactured which were made up of above key components. The main performance indices of prototype machine were tested by experiments which were carried out in the laboratory soil trough using eggplant seedlings. The results showed that the qualified rate of planting spacing was 93.02%, the qualified rate of upright degree was 97.79%, the variation coefficient of planting depth was 0.78%, and the rate of damaged seedlings was 2.19%, so the machine can meet the actual production requirements. This theoretical model would provide reference for the follow-up study on cantilever cup vegetable transplanter.