The development of robotic systems has faced many challenges: First came what Freudenstein called “the Mount Everest” of kinematics. Thereafter came the challenge of finding all forwardkinematics solutions of a six-degree-of-freedom parallel robot. The two foregoing problems are largely solved by now. The new challenge is the development of ever faster pick-and-place four-degree-of-freedom robots. The limit of the serial version thereof was reached in the late nineties, with a record speed of two cycles per second. This called for the development of parallel versions of the same. Some industrial robots of this kind, carrying three to four limbs, are out in the market. With the purpose of simplifying their morphology and reducing their footprint, two-limb robots have started emerging. The challenge here is the transmission of force and motion from the two actuators of each limb, mounted on a common base, to produce two independent motions, normally pan and tilt. Discussed in this paper are the theoretical and practical hurdles that the robot designer faces in this quest.