以往仿生魚設計分成機構系統與控制系統兩部份，著重達成功能目標，但後續的維修與保養問題，並沒有考慮在設計程序中，因此本研究將採用模組化觀念發展機構系統與控制系統。模組化設計是將致動器、感測器與控制電路個別水密，致動器與機構以模組化方式組合完成單一擺動機構，整個擺動機構由3組模組化擺動機構組裝而成，控制模組由控制電路，電源與沉浮機構組成一控制箱，感測器為單獨做水密處理保留與控制電路接觸的接口，設計簡易浮力箱調整浮力與穩度。

In earlier designs of biomimetic robot fish, they were divided into a mechanism system and a control system, with the emphasis placed on realizing the functional target. However, subsequent maintenance and repair in the design procedure were never considered. Hence, this study will adopt the module concept to develop both the mechanism system and the control system. The modular design aims to make the actuator watertight, the sensor watertight and the control circuit watertight, in that order, and to combine the actuator and mechanism into a single oscillatory mechanism module. The entire oscillatory mechanism consists of three sets of modularized oscillatory mechanisms; the control module is a control box, composed of the control circuit, the power, and the floating/diving mechanism. The sensor undergoes a separate
watertight treatment to reserve the condition of the interface with the control circuit. It is designed with a simple buoyancy tank to adjust the buoyancy and stability.