Robots have been applied in various industries. Nonetheless, conventional robots have difficulties coping with challenges from complex environments and limited spaces. In this paper, a new unified frame and system are designed to provide effective solutions for the technology and system development of bionic variable structure robots (BVSRs). Specifically, we design a complete communication architecture to measure data, feedback information, and send and receive commands between various hardware. Additionally, BVSRs are controlled by the commands from Raspberry Pi, Arduino, and a flight controller based on measured data. Finally, the designed frame and system are applied to two types of BVSRs, including terrestrial-aerial amphibious robots (TAARs) and bionic variable structure UAVs (BVS-UAVs). Experimental results demonstrate that the designed BVSRs achieve stable control in variable modes.