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With the realization automation assembly for the tractor of driving wheel axle, the control method of fuzzy predictionwas proposed for self-locking bolt tightening assembly. According to the bolt tightening characteristic, the clamping force, torque and angle were predicted, and the self-locking bolt tightening process for the tractor of driving wheel axle assembly were controlled by using the embedded assembly controller. Moreover, the positioning device of lock blade and assist device were designed with combining the technology of fiber optical sensor detection and mechanical design. By the application of intelligent fuzzy control arithmetic, the multivariable target fuzzy intelligent control for axial pre-tightening force, self-locking bolt tightening torque and angle position of driving wheel axle were achieved. Verified by the actual production process, a self-locking bolt assembly question with the function of lock blade positioning was resolved. It had higher prediction accuracy and improved the assembling quality and efficiency. 