This paper presents an analytical error prediction model of a 3PRP planar parallel manipulator using the screw theory. This analytical approach is used to find the effect of mechanical inaccuracies contributing to the end-effector pose errors and their sensitivity coefficients. Finally, parameter sensitivity analysis of non-compensable errors of two different configurations based on their fixed base shape namely ∆-shape and U-shape fixed bases are analysed and compared. © Springer International Publishing AG 2018.