Abstract—This paper focuses on the mechanics of a compliant serial manipulator composed of the new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the stable and unstable equilibrium configurations of the manipulator, and to predict the corresponding manipulator shapes. The stiffness analysis was carried on for both loaded and unloaded modes, the stiffness matrices were computed using the Virtual Joint Method (VJM). The results demonstrate that either buckling or quasi-buckling phenomenon may occur under the loading if the manipulator initial configuration is straight or non-straight one. Relevant simulation results are presented at last, which confirm the theoretical study.