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I find that lifting gives you best results when you mix it up and work your muscles with a variety of different exercises. Using both free weights and machines from time to time will keep you from getting bored by varying your workout, and will make you stronger by using your muscles in different ways.
That said, I rely on free weights most of the time -- they work more muscles and they work through a fuller range of motion. I generally use machines as Mael suggested, when I've already maxed out on free weights (ie, use the pec deck after you've already benched as much as you can).
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