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Vector beams, usually generated using q-plates, are of interest because their polarization state varies spatially. In general, the q-plate performance is examined by illuminating the device and detecting the output beam with polarization states on the 6 cardinal points on the zero-order Poincaré sphere, requiring a total of 36 separate measurements. In this work we present a powerful technique to generate arbitrary vector beams in parallel, thus reducing the number of measurements required. We begin with a programmable polarization diffraction grating capable to generate an arbitrary number of diffraction orders with defined polarization states selected at will. Then we combine this grating with a segmented q-plate device with q = 1/2 value. Using this combination, the parallel generation of six arbitrary first-order vector beams is achieved in a single shot. Therefore, the analysis of these beams can be greatly reduced. [ABSTRACT FROM AUTHOR]