I printed these using eSun PLA+ with Gyroid 15% Infill and 0.2mm layer height.

It would probably be smarter to utilize a harder material (PETG or ABS), denser infill and more shell layers. As you can see in the video down below however, these settings worked for me. Definitely use the baseplate model if you use a rather bendy material.

Print Settings: Use automatically generated supports on build plate only to support the bar with “Style: Snug” setting. I simply added this to PrusaSlicer's "0.2mm Quality @MK3" profile.

Note: I chopped off the round part from the lower half of the bar. This was done so less support material has to be used (which also shortens print time). I personally do not need the bottom half of the bar to be perfectly round. If you do however, please be sure to comment and I'll upload another version of this model.

Warning: I advise you to only use these bars on carpet or put rubber feet on the bottoms. Be advised, you might slip on smooth ground!!!

Also, it might be smart to wrap rubber bands around the bar. I just sanded every part my hands might grab. Works for me personally :)

A showcase of stability:

I tried to put all my weight (~100 kg) on the parallette and wiggled a little bit. Feels pretty safe.

If you have suggestions, need a modified version or anything else - let me know in the comments!

Updates:

13 Apr 2022 - Updated description with material recommendations

30 Jan 2023 - Added model with baseplate and 90% width models for Prusa Mini