The invention discloses a mooring flight mechanical arm based on mooring rope tension control, which comprises an aircraft, a ground station, a mechanical arm, a rope driving device and a mooring control device, the mechanical arm and the mooring control device are respectively arranged on two sides of the center of the bottom of the aircraft, and the mooring control device comprises a mooring rope and a ground moving platform. The power supply part of the mooring flight mechanical arm is arranged in the ground moving platform, and the ground moving platform supplies power to the aircraft and the rope driving device through the mooring rope. According to the mooring flight mechanical arm, the large-capacity battery is arranged on the ground moving platform, power is supplied to the mooring flight mechanical arm through the mooring cable, uninterrupted power supply to the mooring flight mechanical arm can be achieved, the aerial operation time is prolonged, meanwhile, no large-capacity battery needs to be used on an aircraft, the mass of an aircraft body can be reduced, and the flight quality is improved.