{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2010:AGKLWWAFQ2KHRSWO3XPVXJUHK6","short_pith_number":"pith:AGKLWWAF","canonical_record":{"source":{"id":"1012.2199","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2010-12-10T08:13:17Z","cross_cats_sorted":[],"title_canon_sha256":"582fe378af22eeadd0e6a6f0a0714497f262a74973c7b1b977dadd867ff823e5","abstract_canon_sha256":"57924fce8c8c0f5c7997ef66a1e23e8bb5e0743bef33379eef12b27a8ca7f0c0"},"schema_version":"1.0"},"canonical_sha256":"0194bb5805869478cacedddf5ba687578d0e15e4e1a1d2706cab08c71347a955","source":{"kind":"arxiv","id":"1012.2199","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1012.2199","created_at":"2026-05-18T04:33:38Z"},{"alias_kind":"arxiv_version","alias_value":"1012.2199v1","created_at":"2026-05-18T04:33:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1012.2199","created_at":"2026-05-18T04:33:38Z"},{"alias_kind":"pith_short_12","alias_value":"AGKLWWAFQ2KH","created_at":"2026-05-18T12:26:05Z"},{"alias_kind":"pith_short_16","alias_value":"AGKLWWAFQ2KHRSWO","created_at":"2026-05-18T12:26:05Z"},{"alias_kind":"pith_short_8","alias_value":"AGKLWWAF","created_at":"2026-05-18T12:26:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2010:AGKLWWAFQ2KHRSWO3XPVXJUHK6","target":"record","payload":{"canonical_record":{"source":{"id":"1012.2199","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2010-12-10T08:13:17Z","cross_cats_sorted":[],"title_canon_sha256":"582fe378af22eeadd0e6a6f0a0714497f262a74973c7b1b977dadd867ff823e5","abstract_canon_sha256":"57924fce8c8c0f5c7997ef66a1e23e8bb5e0743bef33379eef12b27a8ca7f0c0"},"schema_version":"1.0"},"canonical_sha256":"0194bb5805869478cacedddf5ba687578d0e15e4e1a1d2706cab08c71347a955","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:33:38.319988Z","signature_b64":"60n5N0AYlx9C+rGU2nT4JQLiWAIRNoVhjK8RSaJt53LlO9EOTwhq5s5uY+Clat3zJt1TY9UZ3tyK4jP7fQKXDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0194bb5805869478cacedddf5ba687578d0e15e4e1a1d2706cab08c71347a955","last_reissued_at":"2026-05-18T04:33:38.319422Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:33:38.319422Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1012.2199","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":"2026-05-18T04:33:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PMb7qCRV8YqgnwgJZGSpUPy/V5Wcqb6QFX6VtjgFcKTFP8kfSL5EK4xwkFagALVQf/tUNRNcOoHuFXI2+chBDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T04:00:02.267710Z"},"content_sha256":"4695e75bbab85f350647279b1493e24d4ac11704ad84b66b57b1428c29d373cd","schema_version":"1.0","event_id":"sha256:4695e75bbab85f350647279b1493e24d4ac11704ad84b66b57b1428c29d373cd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2010:AGKLWWAFQ2KHRSWO3XPVXJUHK6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Stiffness modelling of parallelogram-based parallel manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandr Klimchik (IRCCyN), Anatoly Pashkevich (IRCCyN), Damien Chablat (IRCCyN), St\\'ephane Caro (IRCCyN)","submitted_at":"2010-12-10T08:13:17Z","abstract_excerpt":"The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear ``load-deflection\" relation and relevant rank-deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1012.2199","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":""},"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":"2026-05-18T04:33:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rZJmx6ae9ruZkvGPzQM3AQ2VffVBgHCdsd9pIWDipsfvsmVJIhCsNWBkrSGTDjN2CZg1N8tzgiL+GbLDuZxqAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T04:00:02.268414Z"},"content_sha256":"8f688f9ae188f1018f304634e6e88c28a46f79bbd0d9ab2c972b4ecc19d33bde","schema_version":"1.0","event_id":"sha256:8f688f9ae188f1018f304634e6e88c28a46f79bbd0d9ab2c972b4ecc19d33bde"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6/bundle.json","state_url":"https://pith.science/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6/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":"2026-06-06T04:00:02Z","links":{"resolver":"https://pith.science/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6","bundle":"https://pith.science/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6/bundle.json","state":"https://pith.science/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AGKLWWAFQ2KHRSWO3XPVXJUHK6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2010:AGKLWWAFQ2KHRSWO3XPVXJUHK6","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":"57924fce8c8c0f5c7997ef66a1e23e8bb5e0743bef33379eef12b27a8ca7f0c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2010-12-10T08:13:17Z","title_canon_sha256":"582fe378af22eeadd0e6a6f0a0714497f262a74973c7b1b977dadd867ff823e5"},"schema_version":"1.0","source":{"id":"1012.2199","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1012.2199","created_at":"2026-05-18T04:33:38Z"},{"alias_kind":"arxiv_version","alias_value":"1012.2199v1","created_at":"2026-05-18T04:33:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1012.2199","created_at":"2026-05-18T04:33:38Z"},{"alias_kind":"pith_short_12","alias_value":"AGKLWWAFQ2KH","created_at":"2026-05-18T12:26:05Z"},{"alias_kind":"pith_short_16","alias_value":"AGKLWWAFQ2KHRSWO","created_at":"2026-05-18T12:26:05Z"},{"alias_kind":"pith_short_8","alias_value":"AGKLWWAF","created_at":"2026-05-18T12:26:05Z"}],"graph_snapshots":[{"event_id":"sha256:8f688f9ae188f1018f304634e6e88c28a46f79bbd0d9ab2c972b4ecc19d33bde","target":"graph","created_at":"2026-05-18T04:33:38Z","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"},"paper":{"abstract_excerpt":"The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear ``load-deflection\" relation and relevant rank-deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family.","authors_text":"Alexandr Klimchik (IRCCyN), Anatoly Pashkevich (IRCCyN), Damien Chablat (IRCCyN), St\\'ephane Caro (IRCCyN)","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2010-12-10T08:13:17Z","title":"Stiffness modelling of parallelogram-based parallel manipulators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1012.2199","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":"sha256:4695e75bbab85f350647279b1493e24d4ac11704ad84b66b57b1428c29d373cd","target":"record","created_at":"2026-05-18T04:33:38Z","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":"57924fce8c8c0f5c7997ef66a1e23e8bb5e0743bef33379eef12b27a8ca7f0c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2010-12-10T08:13:17Z","title_canon_sha256":"582fe378af22eeadd0e6a6f0a0714497f262a74973c7b1b977dadd867ff823e5"},"schema_version":"1.0","source":{"id":"1012.2199","kind":"arxiv","version":1}},"canonical_sha256":"0194bb5805869478cacedddf5ba687578d0e15e4e1a1d2706cab08c71347a955","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0194bb5805869478cacedddf5ba687578d0e15e4e1a1d2706cab08c71347a955","first_computed_at":"2026-05-18T04:33:38.319422Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T04:33:38.319422Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"60n5N0AYlx9C+rGU2nT4JQLiWAIRNoVhjK8RSaJt53LlO9EOTwhq5s5uY+Clat3zJt1TY9UZ3tyK4jP7fQKXDg==","signature_status":"signed_v1","signed_at":"2026-05-18T04:33:38.319988Z","signed_message":"canonical_sha256_bytes"},"source_id":"1012.2199","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4695e75bbab85f350647279b1493e24d4ac11704ad84b66b57b1428c29d373cd","sha256:8f688f9ae188f1018f304634e6e88c28a46f79bbd0d9ab2c972b4ecc19d33bde"],"state_sha256":"6df980022ccccc91c13d4a2cf8dcbd002dcc805f965040108d1373768825c495"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2r2axOPAjvDywDzLiWFsgAP2pbZrSlldDF+BC3Ut6l1pryMO1TsIIZBHFVUDotvNpO6fiF1fOJXy4BCmVKoZAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T04:00:02.272395Z","bundle_sha256":"e770b7acbe68d8b0ac5e2e0cb20ea17caed241c9cb66465a02d0a46de608b777"}}