I cannot think of any miniDV 3-chip palm-sized HDV camera. Many of the palm-sized models are opting for CMOS sensors and I've yet to see more than one of these deployed in a camera. The closest I found was the Panasonic HDC-SD1EG-S (
Panasonic UK - HDC-SD1EG-S High Definition), but this too fails the miniDV requirement.
I know the 950 is legendary for its picture quality, but if size really is important to you (and not all of us FX1-sized camera users are nerds!!

), then I'd be telling myself to give CMOS a chance (or at least a trial run) and not be so fixated on 3 chips.
Of course if money is no option, then I'd recommend a mid- and palm-sized combo....hmmm a Canon XH-A1 for times when being a nerd is OK and a HV20 for when I'm on holiday.....