Serial port ports with pinouts and voltage levels incompatible with RS-232. Inter-operation with RS-232 devices may be impossible as the serial port cannot withstand the voltage levels produced and may have other differences that "lock in" the user to products of a particular manufacturer. Low-cost processors now allow higher-speed, but more complex, serial communication standards such as USB and FireWire to replace RS-232. These make it possible to connect devices that would not have operated feasibly over slower serial connections, such as mass storage, sound, and video devices. Many personal computer motherboards still have at least one serial port, even if accessible
Parallel manipulator others, rather than being cumulative. Each actuator must still move within its own degree of freedom, as for a serial robot; however in the parallel robot the off-axis flexibility of a joint is also constrained by the effect of the other chains. It is this closed-loop stiffness that makes the overall parallel manipulator stiff relative to its components, unlike the serial chain that becomes progressively less rigid with more components. This mutual stiffening also permits simple construction: Stewart platform hexapods chains use prismatic joint linear actuators between any-axis universal ball joints. The ball joints are passive: simply free to move,