This　paper　presents　a　simplified　method　to　establish　a　mathematical　model　for　predicting　the　loaded　posture　of　a　single-section　continuum　manipulator　with　arbitrary　shape　and　size　of　the　cross-section.　The　method　constructs　a　parameter　of　equivalent　bending　stiffness　for　the　manipulator　and　later　considers　the　single-section　continuum　manipulator　to　be　an　equivalent　Euler-beam　while　discussing　the　symmetry　of　the　cross-section.　Thus,　the　tip　position　and　posture　of　the　manipulator　under　load　are　deduced　using　the　large　deflection　theory　and　unit　load　method.　The　loading　model　of　the　single-section　continuum　manipulator　is　verified　by　experiment,　and　the　result　indicates　that　the　error　between　the　theoretical　model　and　the　experiment　is　no　more　than　6%.　(C)　2016　Elsevier　Ltd.　All　rights　reserved.