We study the geometrical conditions for stabilizing magnetic skyrmions in cylindrical nanostrips and nanotubes of ferromagnetic materials with chiral interactions. We obtain the low-temperature equilibrium state of the system implementing a simulation annealing technique for a classical spin Hamiltonian with competing isotropic exchange and chiral interactions, radial anisotropy and an external field. We address the impact of surface curvature on the formation, the shape and the size of magnetic skyrmions. We demonstrate that the evolution of the skyrmion phase with the curvature is controlled by the competition between two characteristic lengths, namely the curvature radius, $R$ (geometrical length) and the skyrmion radius, $R_{sk}$ (physical length). In narrow nanotubes ($R<R_{sk}$) the skyrmion phase evolves to a stripe phase, while in wide nanotubes ($R>R_{sk}$) a mixed skyrmion-stripe phase emerges. Most interestingly, the mixed phase is characterized by spatially separated skyrmions from stripes owing to the direction of the applied field relative to the surface normal. In the stability regime ($R \gtrsim R_{sk}$) skyrmions remain circular and preserve their size as a consequence of their topological protection. Zero-field skyrmions are shown to be stable on curved nanoelements with free boundaries within the same stability region ($R\gtrsim R_{sk}$). The experimental and technological perspectives from the stability of skyrmions on cylindrical surfaces are discussed.
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