{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:XEUB2OKDYJZUZZMSXNQNJHOGRT","short_pith_number":"pith:XEUB2OKD","schema_version":"1.0","canonical_sha256":"b9281d3943c2734ce592bb60d49dc68ce437ea2eeefd0ddaf17f03139d19b441","source":{"kind":"arxiv","id":"2006.10366","version":1},"attestation_state":"computed","paper":{"title":"A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Keisuke Koyama, Kensuke Harada, Weiwei Wan, Zhengtao Hu","submitted_at":"2020-06-18T08:51:08Z","abstract_excerpt":"This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous rotation to realize tasks like fastening screws. The essential structure of the tool comprises a Scissor-Like Element (SLE) mechanism and a double-ratchet mechanism. They together convert repeated linear motion into continuous rotating motion. At the joints of the SLE mechanism, elastic elements are attached to provide resisting force for holding the tool as well a"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2006.10366","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-06-18T08:51:08Z","cross_cats_sorted":[],"title_canon_sha256":"a3ed93e233c97094d09a21ef7648271dd59a5bbdc525b07f0585e3073d3f4c51","abstract_canon_sha256":"146da327afae0f1ba3947ba2205788715cf1451f6e915ea967111046b0da0e2e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:03:48.656791Z","signature_b64":"nfGYW5aCq5rQ5r0nkWsPntow2NVL5eBkV2stJGkvnhTtbpdIwVzizTdr8qr6kGfIVL/W3Oft0XEcLhLEHADCBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b9281d3943c2734ce592bb60d49dc68ce437ea2eeefd0ddaf17f03139d19b441","last_reissued_at":"2026-07-05T03:03:48.656303Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:03:48.656303Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Keisuke Koyama, Kensuke Harada, Weiwei Wan, Zhengtao Hu","submitted_at":"2020-06-18T08:51:08Z","abstract_excerpt":"This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous rotation to realize tasks like fastening screws. The essential structure of the tool comprises a Scissor-Like Element (SLE) mechanism and a double-ratchet mechanism. They together convert repeated linear motion into continuous rotating motion. At the joints of the SLE mechanism, elastic elements are attached to provide resisting force for holding the tool as well a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.10366","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/2006.10366/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2006.10366","created_at":"2026-07-05T03:03:48.656363+00:00"},{"alias_kind":"arxiv_version","alias_value":"2006.10366v1","created_at":"2026-07-05T03:03:48.656363+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.10366","created_at":"2026-07-05T03:03:48.656363+00:00"},{"alias_kind":"pith_short_12","alias_value":"XEUB2OKDYJZU","created_at":"2026-07-05T03:03:48.656363+00:00"},{"alias_kind":"pith_short_16","alias_value":"XEUB2OKDYJZUZZMS","created_at":"2026-07-05T03:03:48.656363+00:00"},{"alias_kind":"pith_short_8","alias_value":"XEUB2OKD","created_at":"2026-07-05T03:03:48.656363+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT","json":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT.json","graph_json":"https://pith.science/api/pith-number/XEUB2OKDYJZUZZMSXNQNJHOGRT/graph.json","events_json":"https://pith.science/api/pith-number/XEUB2OKDYJZUZZMSXNQNJHOGRT/events.json","paper":"https://pith.science/paper/XEUB2OKD"},"agent_actions":{"view_html":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT","download_json":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT.json","view_paper":"https://pith.science/paper/XEUB2OKD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2006.10366&json=true","fetch_graph":"https://pith.science/api/pith-number/XEUB2OKDYJZUZZMSXNQNJHOGRT/graph.json","fetch_events":"https://pith.science/api/pith-number/XEUB2OKDYJZUZZMSXNQNJHOGRT/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT/action/storage_attestation","attest_author":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT/action/author_attestation","sign_citation":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT/action/citation_signature","submit_replication":"https://pith.science/pith/XEUB2OKDYJZUZZMSXNQNJHOGRT/action/replication_record"}},"created_at":"2026-07-05T03:03:48.656363+00:00","updated_at":"2026-07-05T03:03:48.656363+00:00"}