A catalogue of stable equilibria of planar extensible or inextensible elastic rods for all possible Dirichlet boundary conditions

We catalogue configurations that locally minimize energy for a planar elastic rod (extensibleshearable or inextensible-unshearable) subject to arbitrary Dirichlet boundary conditions in position and orientation. Via a combination of analysis and computation, we determine several bifurcation surfaces in the 3-parameter space of boundary conditions and explore how they depend on the rod material parameters, including in the inextensible limit. For each possible boundary condition, we find all stable equilibria with sufficiently low energy that they might be competitive within a Boltzmann distribution if the rod were used to model DNA with tens or hundreds of base pairs, the length-scale relevant for DNA looping. Depending on the boundary conditions, there are as many as three such equilibria.