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Developing continuum manipulators is very useful for special robotic applications. One of the practical usages is medical tools such as endoscope or colonscope. In such applications, a maneuverable thin and flexible manipulator is highly required. In this paper, a basic module is designed which can be used as an element of a continuum manipulator in a modular configuration. Furthermore, the module can simultaneously be utilized both as a joint and actuator in a mechanism. In the structure of the module, three springs of shape memory alloy (SMA) are uniformly distributed and mounted around a bias spring with an angle of 120°. Stimulating SMA springs individually or together provides different rotation regimes. Brinson model and normal compression spring behavior are used for modeling of SMA and bias spring, respectively. Afterward, the model of SMAs and bias spring are integrated to describe the behavior …