Compliant structure under follower forces and any combined loading: Theoretical and experimental studies

•A robust numerical approach has been proposed to solve for follower forces in compliant mechanisms.•Linear and nonlinear finite element methods have been adopted to solve for large deflection with complicated geometries and forces.•Experiments have been performed for beams with follower forces and are validated with the simulated results based on the proposed model.•The efficacy of the presented algorithms in the design of compliant structures is shown through a wing morphing example.