A smaller version was commercially available:    • Affordable dualarm SCARA academic ro...  .

DexTAR (Dextrous TwinArm Robot) is the fastest fivebar 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 endeffector can accelerate up to 25 Gs.