The Grand piano (vogel) came before the upright. Much care was put into making and refining the action. Friction at various points stop things from working. Some manuactures, such as Steinway have tried different things to help this. Other's haven't cared or if they did, the job didn't go to well. Although these components and the friction or the distance between parts, can be very small, but makes a great difference in what you are able to do.
In general, to do play repeated notes you need a great action. Most, I think will agree that is Renner. A Renner action and hammers, with properly weighted and balanced keys will take anything you can possibly through at it.
I was blown away when I went to a piano with the Renner action. It was like driving a sports car.
Step on the gas and Zoom, with a capital Z, let off on it and it coast or come back down immediately. The action on my piano is Renner. It lets me go from a pp to ff and back to ppp in one measure--amazing. As for repeated notes, the only reason I can't play them as quickly as I want is because the key weight is a bit heavy for me. But they can still be played so fast that they blur. --it does tire me out, though.
If you have a good technician, many things can be adjusted, to help you get a faster repetition. Tell your technician what you want and let him try to get it for you. But no matter what you do to an upright, because of the way the action is built, the speed available, will never equal that of a really good, grand.