中文摘要：

介绍了管间机器人的功能、结构及其定位机构的工作原理。用全微分方法对定位机构的误差进行了分析，求出了管间机器人的位置误差与原动件位置误差和构件长度误差的关系，为零件公差的分配提供了理论依据。根据分析结果对实验样机的定位误差进行了计算。

英文摘要：

The principles of in - bundle robort and its positioning module are introduced firstly. Total differential method is applied to analyze the error of the positioning module, and the positioning error equation has been concluded, thus providing theoretical basis for the distribution of parts＇ tolerance.