A new，homogeneous，mobile spatial multiangle selfreconfigurable robot，MSMAbot, was designed，which could constitute many different configurations in plane and space，because of its plentiful connection surfaces and degrees of freedom. Combined with the structure of the module and the graph theory, the rules of dynamic connection edge information between two modules were established. The topology description method was proposed based on the spatial connection information matrix group. Spatial information representation of any configuration was identified by bounded depthfirst search algorithm. Through the hierarchical parallel comparison of the connection information, the optimal configuration public topology matching and module mapping were obtained. Only nonpublic topology modules participated in reconstruction, which effectively reduced the number of modules involved in the reconstruction and steps and shortened the reconstruction time required. Finally，a simulation experiments of two configurations was carried out in ADAMS, and the effectiveness of the hierarchical parallel reconstruction strategy was verified.