Due to the difficulty in controlling the lifting tool's posture in traditional shipbuilding gantry cranes, precise assembly operations involving complex maneuvers such as aerial flipping have become challenging. To enhance shipbuilding efficiency and reduce the construction cycle, the concept of wire-driven parallel robots was introduced into the gantry crane lifting field, leading to the development of a novel wire-driven lifting robot. Initially, the kinematic position inverse solution of the wire-driven lifting robot was analyzed using vector closure theory, which facilitated the planning of the lifting tool's trajectory and the analysis of wire length variations. Subsequently, a dynamics model for the robot was established based on the Newton-Euler method, and a wire tension distribution algorithm was employed to optimize the tensions within the wires. Joint simulations were then conducted using MATLAB and ADAMS. The simulation results demonstrate that the optimized wire tensions exhibit smooth and continuous variations. Under open-loop conditions, the maximum mean error in wire length variation is 46 mm for circular trajectories, 27 mm for spiral trajectories, and the mean error ratio for reciprocating trajectories is 0.55%. Finally, an experimental prototype was constructed, and the wire tension error ratio under experimental conditions remained within 15%, validating the accuracy of the established dynamics model. This validation provides a theoretical basis for the design of control strategies and the development of future prototypes.