The error model of the 5-degree-of-freedom hybrid perfusion manipulator established by the product of exponentials formula is more comprehensive and effective. Compared with the traditional inverse kinematic method, the mean pose errors of the moving platform after kinematic calibration based on the product of the exponentials method are reduced by 89.04 % and 63.79 %, respectively. The proposed modeling method is applicable to error modeling and analysis of most parallel mechanisms.