Reciprocal figures, graphical statics and inversive geometry of the Schwarzian BKP hierarchy

A remarkable connection between soliton theory and an important and beautiful branch of the theory of graphical statics developed by Maxwell and his contemporaries is revealed. Thus, it is demonstrated that reciprocal triangles which constitute the simplest pair of reciprocal figures representing both a framework and a self-stress encapsulate the integrable discrete BKP equation and its Schwarzian version. The inherent Moebius invariant nature of the Schwarzian BKP equation is then exploited to define reciprocity in an inversive geometric setting. Integrable pairs of lattices of non-trivial combinatorics consisting of reciprocal triangles and their natural generalizations are discussed. Particular reductions of these BKP lattices are related to the integrable discrete versions of Darboux's 2+1-dimensional sine-Gordon equation and the classical Tzitzeica equation of affine geometry. Furthermore, it is shown that octahedral figures and their hexahedral reciprocals as considered by Maxwell likewise give rise to discrete integrable systems and associated integrable lattices.