Development of Bolt Screwing Tool Based on Pneumatic Slip Ring

End-effector tools with low weight, multiple degrees of freedom have significant application significance. At present, motor-driven robot operating tools generally have more complicated transmission systems as well as actuators, and the weight is also heavy. In this paper, a bolt-screwing tool based on a pneumatic slip ring structure is designed, which can realize two-DOF motion of clamping-releasing and rotating. The tool consists of a pneumatic slip ring with sealed structure and a cylinder driven gripper. This article also introduces the control strategy required to screw the bolt, and describes the configuration of the experiment. Finally, the bolt is screwed into the thread hole in the experiment to verify the reliability of the screw assembly tool and the effectiveness of the corresponding control scheme.