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This work presents the EFIP project (Efetuador de Furação e Inserção de Prendedores, Portuguese for “Effector of Drilling and Fasteners Inserter”), a robot end-effector design for implementing an automatic riveting process used in manufacturing aircraft fuselage components. The EFIP is mounted in an industrial anthropomorphic robot, with a seven-meter (7m) linear unit able to range over the entire side of an aircraft fuselage section. The end-effector has several modules that allows for a one-step-drilling process, including a special drill with chamfer; automatic rivet delivery; automatic rivet insertion; sealant applicator for each rivet; perpendicular drilling correction mechanism; clamp force control loop, and means for visual inspection. Each module can work independently or in integration with others, controlled by a graphical interface in a remote station.