An attacker does not have to wait in order to produce a parallel chain. He can mine his separate chain immediately after submitting the transaction.
Even with less than 50% hashrate, he is bound to find a few blocks in a row from time to time. Keep in mind that he can run the attack as often as he wants. This is why the recommendation is to wait for 6 blocks - it is very unlikely (not impossible) that somebody with a 20% hashrate ever finds 6 blocks in a row.
When an attack is successful, everybody will mine on the attackers chain - including the honest miners. The attackers chain is valid after all, it just has a different valid transaction set.
The significance of the 51% hashpower is that the attacker is guaranteed to succeed over a long-enough time horizon.
Reducing or removing the costs of mining a parallel chain (even for miners with 20% hashpower) reduces their cost to mine a parallel chain and weakens the security guarantee. If a miner can work on a side chain and get paid for protein folding at the same time, he can keep doing it without losing money on electricity. When he finally succeeds, he will also cash in the mining reward.