DDR4 SDRAM computer buses have migrated towards replacing parallel buses with serial buses, for example by the evolution of Serial ATA replacing Parallel ATA, PCI Express replacing PCI, and serial ports replacing parallel ports. In general, serial buses are easier to scale up and have fewer wires/traces, making circuit boards using them easier to design. In the longer term, experts speculate that non-volatile RAM types like PCM (phase-change memory), RRAM (resistive random-access memory), or MRAM (magnetoresistive random-access memory) could replace DDR4 SDRAM and its successors. GDDR5 SGRAM is a graphics type of DDR3 synchronous graphics RAM, which was introduced before DDR4, and
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,