Think of solid-state drives as multi-core storage
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In anticipation of the likely "but it's not really parallel!" rebuttal, I'd like to point out that the internal parallelism is only important for its effect on throughput and latency. Parallelism is not a magic bullet.
SSD parallelism is important for its effect on throughput and latency. If you're reading a database index to satisfy multiple queries, and you need to read in leaves from totally different disk locations you can do it in parallel in SSDs. This has huge potential to improve performance (once databases get around to taking advantage of this).
You are still limited by the speed of a SATA channel, so a striped hardware raid of SSD drives are going to be faster still.
Ironically, many SAS controllers can handle fewer IOPS than an Intel ICH SATA controller; SAS 2.0 controllers are supposed to be better in this regard.
The head-positioning firmware would get more complicated, yes, but for the fixed cost of getting those algorithms right many multiples of increase in seek times and transfer rates would be possible, by adding arms and heads.
Perhaps the competition from SSDs will trigger some new approaches in mechanical drives, as well.
It's my impression that they stopped because of alignment issues, something like "it's hard to read something with one arm if it was written with a different one" and/or "it's hard to keep writes by different arms separate", not because of cost.