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, i.e., it changes working modes. In addition, the trajectory between two Cartesian positions is optimized in terms of cycle time. The robot's end-effector can accelerate up to at least 25 Gs. A smaller version of DexTAR is now commercially available: http://youtu.be/jYHawaGL90o.