Rigidityandenergy-CornellUniversity.PDFVIP

Invent. math. 66, 11-33(1982) !rlverltloYles mathematicae ~: Springer-Verlag 1982 Rigidity and Energy Robert Connelly* Cornell University, Department of Mathematics, Ithaca, New York 14853,USA I. Introduction Suppose one holds two sticks in the form of a cross in one hand, and places a rubber band in tension around the four ends. When it is released, it comes to rest in the shape of a convex quadrilateral in a plane. It always returns to the same shape, no matter how it is distorted, as long as the ends do not slip, and the rubber band does not break. This is a very simple example of a rigid framework of the type we discuss here. Energy explains why a framework, such as the one above is rigid. The rubber band deforms in such a way as to minimize the total energy in the framework. Only in the final deformed shape will the framework have a minimum energy. This idea of introducing energy functions is very useful. It can be used to prove a key lemma that was used by Cauchy [5] in 1813 to show that convex polyhedral surfaces are rigid. It can explain why some, and perhaps all, of R. Buckminster Fullers tensegrity structures [10] stay up. When applied to spider webs it shows why they can only take on certain geometric shapes. It also can be used to prove Conjecture 6 of Branko Griinbaum and G.C. Shephard in their Lectures on lost mathematics [12]. This conjecture says that if a framework, in the shape of a convex polygon, w