{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:5TNTCXR4YM6ADI4ACYA72Z6GM7","short_pith_number":"pith:5TNTCXR4","canonical_record":{"source":{"id":"2403.19784","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-28T19:10:06Z","cross_cats_sorted":[],"title_canon_sha256":"ffc7610e4738bd46f8a00c1a45d342d56a185e96155c0b3d4f094f4684041e6c","abstract_canon_sha256":"43f8ec1575b8a8155e893a32d7de5ac6dae62b0c454d97584c1647b1bed35bca"},"schema_version":"1.0"},"canonical_sha256":"ecdb315e3cc33c01a3801601fd67c667cf2089e1ced399b786e3b8f071d4a2c3","source":{"kind":"arxiv","id":"2403.19784","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.19784","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"arxiv_version","alias_value":"2403.19784v1","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.19784","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"pith_short_12","alias_value":"5TNTCXR4YM6A","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"pith_short_16","alias_value":"5TNTCXR4YM6ADI4A","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"pith_short_8","alias_value":"5TNTCXR4","created_at":"2026-07-05T08:56:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:5TNTCXR4YM6ADI4ACYA72Z6GM7","target":"record","payload":{"canonical_record":{"source":{"id":"2403.19784","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-28T19:10:06Z","cross_cats_sorted":[],"title_canon_sha256":"ffc7610e4738bd46f8a00c1a45d342d56a185e96155c0b3d4f094f4684041e6c","abstract_canon_sha256":"43f8ec1575b8a8155e893a32d7de5ac6dae62b0c454d97584c1647b1bed35bca"},"schema_version":"1.0"},"canonical_sha256":"ecdb315e3cc33c01a3801601fd67c667cf2089e1ced399b786e3b8f071d4a2c3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:56:04.000255Z","signature_b64":"UXyiDtKmdv/f7yfPwOerfJiefZGnv2GiCHzkfIyRwq/7+0sSue5l7F8wO9+2hgEZCnMdS26wyECEb+l05eVWDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ecdb315e3cc33c01a3801601fd67c667cf2089e1ced399b786e3b8f071d4a2c3","last_reissued_at":"2026-07-05T08:56:03.999834Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:56:03.999834Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.19784","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:56:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DCKtAYXUPZAdGiBk+T5nOfLr+6zuAQSUJ+L/lPQ1+zxATORTYeagsFRYM5+KLG9mlANxsNGymK2P50Q61cmxBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T06:50:58.483092Z"},"content_sha256":"a77e912f5aebda04ee47497f966bf80d10f90c33017242de6a83ed82b65f9a8f","schema_version":"1.0","event_id":"sha256:a77e912f5aebda04ee47497f966bf80d10f90c33017242de6a83ed82b65f9a8f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:5TNTCXR4YM6ADI4ACYA72Z6GM7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bingbin Yu, Christoph Stoeffler, Shivesh Kumar, Vinayvivian Rodrigues","submitted_at":"2024-03-28T19:10:06Z","abstract_excerpt":"Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the interconnected elastic links unlike by rigid joints in rigid parallel mechanisms. In this paper, Cosserat rod theory-based forward and inverse kinetostatic models of 6RUS PCR are proposed. A set of simulations are performed to analyze the proposed PCR structure which includes maneuverability in 3-dimensional space through trajectory following, deformation effects due to "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.19784","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.19784/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:56:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hz2jHFDwymGz0vHGPOt02PyboD2+iPua3j0HPiwpY1o+Rfv7uKZjNgHoWGpKroAFlmhPWiAJU7Gls/CDv+W3Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T06:50:58.483687Z"},"content_sha256":"0d01f4215456738db7b5fb10358bde2c34ab76298598167fd8fd7c2c57a97909","schema_version":"1.0","event_id":"sha256:0d01f4215456738db7b5fb10358bde2c34ab76298598167fd8fd7c2c57a97909"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7/bundle.json","state_url":"https://pith.science/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-14T06:50:58Z","links":{"resolver":"https://pith.science/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7","bundle":"https://pith.science/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7/bundle.json","state":"https://pith.science/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5TNTCXR4YM6ADI4ACYA72Z6GM7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:5TNTCXR4YM6ADI4ACYA72Z6GM7","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"43f8ec1575b8a8155e893a32d7de5ac6dae62b0c454d97584c1647b1bed35bca","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-28T19:10:06Z","title_canon_sha256":"ffc7610e4738bd46f8a00c1a45d342d56a185e96155c0b3d4f094f4684041e6c"},"schema_version":"1.0","source":{"id":"2403.19784","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.19784","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"arxiv_version","alias_value":"2403.19784v1","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.19784","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"pith_short_12","alias_value":"5TNTCXR4YM6A","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"pith_short_16","alias_value":"5TNTCXR4YM6ADI4A","created_at":"2026-07-05T08:56:03Z"},{"alias_kind":"pith_short_8","alias_value":"5TNTCXR4","created_at":"2026-07-05T08:56:03Z"}],"graph_snapshots":[{"event_id":"sha256:0d01f4215456738db7b5fb10358bde2c34ab76298598167fd8fd7c2c57a97909","target":"graph","created_at":"2026-07-05T08:56:03Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2403.19784/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the interconnected elastic links unlike by rigid joints in rigid parallel mechanisms. In this paper, Cosserat rod theory-based forward and inverse kinetostatic models of 6RUS PCR are proposed. A set of simulations are performed to analyze the proposed PCR structure which includes maneuverability in 3-dimensional space through trajectory following, deformation effects due to ","authors_text":"Bingbin Yu, Christoph Stoeffler, Shivesh Kumar, Vinayvivian Rodrigues","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-28T19:10:06Z","title":"Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.19784","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:a77e912f5aebda04ee47497f966bf80d10f90c33017242de6a83ed82b65f9a8f","target":"record","created_at":"2026-07-05T08:56:03Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"43f8ec1575b8a8155e893a32d7de5ac6dae62b0c454d97584c1647b1bed35bca","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-28T19:10:06Z","title_canon_sha256":"ffc7610e4738bd46f8a00c1a45d342d56a185e96155c0b3d4f094f4684041e6c"},"schema_version":"1.0","source":{"id":"2403.19784","kind":"arxiv","version":1}},"canonical_sha256":"ecdb315e3cc33c01a3801601fd67c667cf2089e1ced399b786e3b8f071d4a2c3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ecdb315e3cc33c01a3801601fd67c667cf2089e1ced399b786e3b8f071d4a2c3","first_computed_at":"2026-07-05T08:56:03.999834Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:56:03.999834Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UXyiDtKmdv/f7yfPwOerfJiefZGnv2GiCHzkfIyRwq/7+0sSue5l7F8wO9+2hgEZCnMdS26wyECEb+l05eVWDg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:56:04.000255Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.19784","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a77e912f5aebda04ee47497f966bf80d10f90c33017242de6a83ed82b65f9a8f","sha256:0d01f4215456738db7b5fb10358bde2c34ab76298598167fd8fd7c2c57a97909"],"state_sha256":"09ccc68ba411ba553aac455504231b9b96d9b9d976c33df554fa3cbbe913f92b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kZqWlAxR2sbjTCzAM1ldtxUXe7/y4si9tnQ1zXchuyRE56BlLT/piWfv4G66QNDpiwBKssr+OTXhRB8MvmXqBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T06:50:58.489058Z","bundle_sha256":"7961f2adc67239f8d85ce614ee76f1f2a82a65409e2fc5585c63a4ecdec5a89f"}}