Mechanisms and states of self-stress of planar trusses using graphic statics, part I: The fundamental theorem of linear algebra and the Airy stress function

The fundamental theorem of linear algebra establishes a duality between the statics of a pin-jointed truss structure and its kinematics. Graphic statics visualizes the forces in a truss as a reciprocal diagram that is dual to the truss geometry. In this article, we combine these two dualities to provide insights not available from a graphical or algebraic approach alone. We begin by observing that the force diagram of a statically indeterminate truss, although itself typically a kinematically loose structure, must support a self-stress state of its own. Such an “extra” self-stress state is described by the fundamental theorem of linear algebra. We show that the self-stress states of a truss are in a one-to-one correspondence with linkage-mechanism displacements of its reciprocal, and the relative centers of rotation of these mechanism displacements correspond to centers of perspective of a projection of a plane-faced three-dimensional polyhedral mesh. We prove that this polyhedral mesh is exactly the continuum Airy stress function, restricted to describe equilibrium of a truss structure. We use the Airy function to prove James Clerk Maxwell’s conjecture that a two-dimensional truss structure of arbitrary topology has a self-stress state if and only if its geometry is given by the projection of a three-dimensional plane-faced polyhedron. Although a very limited number of engineers have been aware of the relationship between trusses and a polyhedral Airy function, the authors believe that this is the first truly rigorous elucidation. We summarize the properties of this “dual duality,” which has the Airy function at its core, and conclude by showing applications to design of tensegrities, planar panelization of architectural surfaces, and optimization of trusses.