Reducing the energy consumptionof industrial manipulators has become crucial for profitability and sustainability. Two strategies to reduce the energy consumption of parallel manipulators, which can be extended with springs, while performing pick-and-place tasks, are presented. The first strategy involves defining a polynomial spline trajectory, allowing the optimization of via positions between pick-and-place positions. This spline is defined by high-order polynomials that ensure smooth motion and smooth stops by enforcing zero velocity, acceleration, and jerk at boundaries. Energy reductions result from a near-zero torque phase, achieved either through a nearly constant velocity phase when springs are not used or by closely following the system’s free-vibration response when springs are included. The second strategy exploits the natural dynamics of the extended parallel mechanism with nominal springs by updating their equilibrium positions while maintaining a predefined seventh-order point-to-point polynomial trajectory. This approach shifts the optimization of a trajectory to a less demanding geometric optimization problem since point-to-point trajectories are straightforward to implement. Numerical results for a five-bar linkage demonstrate up to 92% energy savings across a grid of pick-and-place positions, enhancing the versatility of a set of nominal springs in industrial scenarios such as palletizing. The results motivate further research on natural motion exploitation and mixed strategies to optimize industrial robot performance.