DexTAR :: The fastest five-bar parallel robot

A smaller version was commercially available: DexTAR (Dextrous Twin-Arm Robot) is the fastest five-bar parallel robot with the largest workspace possible. In order to take full advantage of its workspace, the robot crosses Type 1 (serial) singularities. In addition, the trajectory between two Cartesian positions is optimized in terms of cycle time. The robot's end-effector can accelerate up to 25 Gs.