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Aiming at the problem that the reverse design of the non-circular gear train can not achieve the single-row two-stage gear ratio distribution, an optimal subgear ratio solution method was proposed, and a small plant spacing light simple non-circular gear train planting mechanism was designed. The poses of the planting mechanism at four key moments, namely, embedding, planting, exhuming and grafting, were selected on the ideal seedling trajectory of vegetable small plant distance transplanting. A finite separable four-position kinematic solution model for a planar 2R open-chain linkage assembly was established, and the initial design parameters of the mechanism were obtained. Based on the kinematic model of the seedling planting mechanism with non-circular gear planetary gear train, the optimization objective function was determined, and the improved whale optimization algorithm was used to solve the objective function. A visualization assistant software for the non-circular gear planetary gear train planting mechanism was built, and finally, a seedling planting mechanism with an optimized trajectory was designed. The non-circular gear planetary gear train seedling planting mechanism was three-dimensionally modeled and topology optimized, and kinematic simulations were conducted. The simulated trajectory was compared with the theoretical trajectory to verify the correctness of the three-dimensional design. Finally, field transplanting experiments were conducted. Under the conditions of 30r/min for the mechanism speed and 120mm/s for the machine forward speed, the measured planting spacing was 120mm, which was consistent with the theoretical design spacing. The planting efficiency was 60 seedlings/min, and the average seedling planting success rate over five trials was 95.4%, indicating that the seedling planting mechanism had high operational performance and practicality.