Abstract In the realm of low relative density, a rigid-jointed lattice material exhibits a mechanical response analogous to that of a pin-jointed periodic truss with an identical micro-architecture. This correspondence simplifies the evaluation of the lattice’s structural performance. While established matrix methods in linear algebra are capable of determining the states of self-stress, infinitesimal mechanisms, and mechanical properties of pin-jointed periodic trusses, they lack a systematic approach to deriving closed-form expressions for these properties. This paper presents a straightforward approach to address this gap. Furthermore, we introduce an inventive finite element framework that directly yields self-stress states and infinitesimal mechanisms in periodic trusses subjected to specific uniform macroscopic loading conditions. This framework allows for the determination of mechanical properties for periodic trusses by solving straightforward boundary value problems, such as uniaxial tension/compression or simple shear. The developed finite element framework offers greater simplicity compared to the matrix methods, with its benefits becoming more pronounced for complex micro-architectures. To demonstrate the effectiveness of the two newly developed methods, we conduct structural analyses on five different lattice materials, achieving successful outcomes.