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.