Introduction The Kuiper belt is the relic of the primordial planetesimal disk, shaped by various dynamical and collisional processes that occurred when the Solar System was evolving towards its present structure. Thus, studying the origin of the structure of the Kuiper belt is important because it can unveil the history of the formation and evolution of the giant planets and, more in general, of the proto-Solar System. The main properties of the Kuiper belt that require an explanation in the framework of the primordial evolution of the Solar System are: (The following list is presented in no particular order.) i) The existence of conspicuous populations of objects in the main mean motion resonances (MMRs) with Neptune (2:3, 3:5, 4:7, 1:2, 2:5, etc.). Resonant objects form obvious vertical structures in a semi-major axis (a) versus eccentricity (e) plot, for example, see Fig. 1A. The resonant objects represent a significant fraction of the total trans-neptunian population. T...