In this paper, a pneumatic active accompaniment deburring tool design is proposed, and the modeling simulation and experimental comparison analysis is carried out. The designed tool is actively controllable in both axial and radial direction. Linear pneumatic actuators are used to control axial forces and integrated with linear encoders to measure the axial height. The radial force control is achieved by pneumatic ring driver integrated with angle sensor and two compliant systems realize hybrid control through a universal joint structure. The dynamic modeling and analysis of the tool are carried out and the Arruda-Boyce constitutive model is adopted according to the hyperelasticity theory. The axial and radial stiffness are determined based on the force exerted on the tool tip and the displacement caused by the force. The stiffness simulation is performed by ANSYS Workbench and the simulation results are verified by experiments. It is proved that the deburring tool can float freely during operation, has active compliance, and can also provide the corresponding stiffness according to the pressure in the axial and radial directions that can reduce the vibration and interference in the operation and ensure the machining accuracy.