I am looking for a practical guide presenting the non-parametric tests intended for students without mathematical background (or very little) with if possible the codes SAS or R.
What do you mean with "presenting"? If the students don't have any relevant background in mathematics, it would mean to me that you want to show them "how to press a button" so that some obscure input produces some obscure output that can then be published (sort of a cookbook recipe guide).
You may use simulations if you want to focus on understanding (without requiring much maths). You can easily simulate data, calculate order statistics and build up the sampling distribution of these order statistics. You can also take given samples and do bootstrapping. There are plenty resources in the internet.