Hedling operation

Hi I have a problem with my simulation. I have a hendling operation where a robot takes ( a ring for example ) and puts it in a motor (video in 9s). And my ( ring ) stays in the world to dry. The gripper is kinematized and makes a sliding motion (it has to insert the ring into the motor). I was advised in kinematics to create a link where I will have a slave tcp but it absolutely does not work for me. Would anyone be able to advise me how to solve my problem with this?
Thank you in advance
Uploading: EM1_4_240123.avi…

I’m sorry but I can’t put the video here