The invention discloses a configuration strategy for swarm self-assembly robots based on a tri-element configuration description method. The strategy comprises the steps that (1) a target topologicalrelation is input; (2) tri-element configuration data is constructed; (3) active and passive docking unit bodies are selected; (4) navigation information of passive parts is planned; (5) a docking mechanism is controlled to complete docking; (6) configuration data of the unit bodies is obtained through updating; (7) configuration data of newly added unit bodies is constructed; (8) whether configuration construction is completed is judged; and (9) a final configuration is output. The configuration strategy disclosed by the invention has the beneficial effects that the tri-element configurationdescription method is used; a polar coordinate form of the method is combined; the tri-element configuration data on an upper layer is combined with polar coordinate configuration data on the bottom layer; and the configuration construction for the swarm self-assembly robots based on a regular prism shape is completed. The method has the beneficial effects that deficiencies of existing configuration strategies are overcome; the data size is small; control is easy; and the method is applicable to formation construction of chain-docked swarm self-assembly robots.