Parallel port printer port or Centronics port found on most personal computers from the 1970s through the 2000s. It was an industry "de facto" standard for many years, and was finally standardized as IEEE 1284 in the late 1990s, which defined the Enhanced Parallel Port (EPP) and Extended Capability Port (ECP) bi-directional versions. Today, the parallel port interface is virtually non-existent because of the rise of Universal Serial Bus (USB) devices, along with network printing using Ethernet and Wi-Fi connected printers. The parallel port interface was originally known as the Parallel Printer Adapter on IBM PC-compatible computers. It was primarily designed to
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,