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In this paper, a new type bolting robot in steel-frame structure is introduced. The robot is composed of 3-axis gantry arms with linear motion actuators, a bolting tool, a cabin and additional supporting parts. To construct a high-rise building, steel-frame structure is more suitable than reinforced concrete structures. In steel-frame constructions, it is demanded fasten bolts to join two beams. By using this bolting robot, it can improve the efficiency and safety of construction. This paper describes design of a new type bolting robot and its dynamical analysis with some experiments.