Serial communication the parallel bus's advantage of simplicity (no need for serializer and deserializer, or SerDes) and to outstrip its disadvantages (clock skew, interconnect density). The migration from PCI to PCI Express is an example. Many serial communication systems were originally designed to transfer data over relatively large distances through some sort of data cable. Practically all long-distance communication transmits data one bit at a time, rather than in parallel, because it reduces the cost of the cable. The cables that carry this data (other than "the" serial cable) and the computer ports they plug into are usually referred to with a
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,