为解决传统起重机在浮标布放过程中无法控制其姿态，导致浮标入水角度过大，容易对浮标外表面及内部结构造成损害等问题，将绳牵引机器人应用于A型起重机，开发了一种新型的浮标布放装置。首先，通过矢量封闭理论分析了浮标布放装置的运动学逆解问题，拟定浮标的规则运动轨迹及随机海浪轨迹，分析布放过程中绳索长度、速度的变化情况；其次，基于牛顿-欧拉法建立了浮标布放装置的动力学模型，对各绳索的张力情况进行分析；再次，通过MATLAB-ADAMS联合仿真，验证了运动学模型及动力学模型的准确性。结果表明：规则轨迹下，绳索长度的最大误差为43.93 mm，绳索速度的最大误差为2.04 mm/s，绳索张力的最大误差为34.35 N。两种随机海浪轨迹下，绳索长度的最大误差为58.57 mm，绳索速度的最大误差为30.07 mm/s，绳索张力的最大误差为3.96 N。上述误差值在允许范围内，验证了浮标布放装置结构的合理性及建模的准确性，为后续控制策略的设计及实船应用提供了理论基础。

To address the issue that traditional cranes cannot control the attitude of the buoy during deployment, which leads to an excessive entry angle into the water and potential damage to the buoy's exterior and internal structure, a new buoy deployment device was developed by applying a rope-towed robot to an A-type crane. First, the kinematic inverse solution of the buoy deployment device was analyzed using vector closure theory, and both regular motion trajectories and random wave trajectories of the buoy were proposed. The variations in rope length and speed during deployment were also analyzed. Secondly, a dynamic model of the buoy deployment device was established using the Newton-Euler method to analyze the tension in each rope. Thirdly, the accuracy of the kinematic and dynamic models was verified through MATLAB-ADAMS co-simulation. The results indicate that under regular trajectories, the maximum error in rope length is 43.93 mm, the maximum error in rope speed is 2.04 mm/s, and the maximum error in rope tension is 34.35 N. For two types of random wave trajectories, the maximum error in rope length is 58.57 mm, the maximum error in rope speed is 30.07 mm/s, and the maximum error in rope tension is 3.96 N. These error values are within acceptable limits, validating the rationality of the buoy deployment device's structure and the accuracy of the modeling. This provides a theoretical foundation for the subsequent design of control strategies and practical application on vessels.