USB It has largely replaced interfaces such as serial ports and parallel ports, and has become commonplace on a wide range of devices. USB connectors have been increasingly replacing other types for battery chargers of portable devices. This section is intended to allow fast identification of USB receptacles (sockets) on equipment. Further diagrams and discussion of plugs and receptacles can be found in USB (Physical) § Connectors. The Universal Serial Bus was developed to simplify and improve the interface between personal computers and peripheral devices, when compared with previously existing standard or ad-hoc proprietary interfaces. From the computer user's perspective, the
Parallel manipulator mechanisms for the movement of either the robot on its base, or one or more manipulator arms. Their 'parallel' distinction, as opposed to a serial manipulator, is that the end effector (or 'hand') of this linkage (or 'arm') is directly connected to its base by a number of (usually three or six) separate and independent linkages working simultaneously. No geometrical parallelism is implied. A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a serial manipulator. Errors in one chain's positioning are averaged in conjunction with the