The Kuiper belt or
Edgeworth-Kuiper belt or Leuschner-Leonard
belt or the `disk formerly known as the Kuiper
belt' was predicted because it was needed as a source of
comets (Fernandez).
Particularly, it was needed to explain the inclinations of the
Jupiter-family comets. (Duncan, Quinn, & Tremaine)
Median inclination only 11O.
Also, it was needed to explain the origin of Chiron.
Dynamical lifetime is very short (Oikawa & Everhart).
First Centaur.
The basic idea is:
Objects slowly leak out of the Kuiper belt. (Levison & Duncan, Holman & Wisdom)
They get scattered by the planets. Centaurs.
Some enter the inner solar system Jupiter-family comets.