paper presents error analysis in the position of parameters of a synthesized 3-prismatic-revolute-spherical (3-PRS) manipulator. The design parameters such as orientation, position, location, direction of revolute and spherical joints are designed based on design constraints. Based on prescribed set of positions and constraints, the physical parameters of a manipulator are determined and by using its kinematics- position, orientation, location, direction of a revolute and spherical joints are determined. The position and orientation of the parameters of a 3-PRS manipulator is calculated by using closed and vector loop techniques. By comparing prescribed and occupied locations of the manipulator the error in obtained position and orientation of a revolute joints of a manipulator are determined. This results shows that the orientation, positional error in synthesized 3-PRS manipulator are negligible. It concludes that the obtained position and orientation of a manipulator are close agreement with prescribed position and orientation of a manipulator and this work is used to obtain tip, tilt and position of the 3-PRS manipulator.