Search and rescue (SAR) operations often involve unstructured and hazardous environments where human intervention is limited. Robotic manipulators inspired by biological systems offer enhanced flexibility, adaptability, and efficiency in such conditions. This study presents the kinematic and dynamic modeling of a bio-inspired robotic arm designed for SAR applications. The arm mimics human limb motion to achieve high dexterity and reachability. Forward and inverse kinematics are derived using Denavit–Hartenberg (DH) parameters, while dynamic equations are formulated using the Lagrangian approach. Simulation results demonstrate improved maneuverability and stability under varying load conditions. The proposed model provides a foundation for developing efficient robotic systems capable of operating in complex rescue scenarios.