diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml
index 11109739..9ebf263b 100644
--- a/.conda/recipe.yaml
+++ b/.conda/recipe.yaml
@@ -1,13 +1,12 @@
 package:
   name: unilabos
-  version: 0.10.1
+  version: 0.10.2
 
 source:
   path: ../unilabos
   target_directory: unilabos
 
 build:
-  noarch: python
   script:
   - set PIP_NO_INDEX=
   - if: win
@@ -33,8 +32,10 @@ requirements:
   - conda-forge::python ==3.11.11
   - compilers
   - cmake
-  - make
   - ninja
+  - if: unix
+    then:
+    - make
   - sphinx
   - sphinx_rtd_theme
   - numpy
diff --git a/.github/workflows/unilabos-conda-build.yml b/.github/workflows/unilabos-conda-build.yml
index 38b483a2..65f6fba4 100644
--- a/.github/workflows/unilabos-conda-build.yml
+++ b/.github/workflows/unilabos-conda-build.yml
@@ -8,6 +8,10 @@ on:
     branches: [main, dev]
   workflow_dispatch:
     inputs:
+      platforms:
+        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
+        required: false
+        default: 'linux-64'
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
@@ -16,7 +20,20 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            platform: linux-64
+          - os: macos-13 # Intel
+            platform: osx-64
+          - os: macos-latest # ARM64
+            platform: osx-arm64
+          - os: windows-latest
+            platform: win-64
+
+    runs-on: ${{ matrix.os }}
 
     defaults:
       run:
@@ -27,7 +44,21 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Check if platform should be built
+        id: should_build
+        run: |
+          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          else
+            echo "should_build=false" >> $GITHUB_OUTPUT
+          fi
+
       - name: Setup Miniconda
+        if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
           miniconda-version: 'latest'
@@ -39,28 +70,36 @@ jobs:
           show-channel-urls: true
 
       - name: Install rattler-build and anaconda-client
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
           conda install -c conda-forge rattler-build anaconda-client
 
       - name: Show environment info
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
           conda info
           conda list | grep -E "(rattler-build|anaconda-client)"
+          echo "Platform: ${{ matrix.platform }}"
+          echo "OS: ${{ matrix.os }}"
           echo "Building UniLabOS package"
 
       - name: Build conda package
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
           rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
 
       - name: List built packages
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
           echo "Built packages in output directory:"
           find ./output -name "*.conda" | head -10
+          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
           ls -la ./output/noarch/ || echo "noarch directory not found"
           echo "Output directory structure:"
           find ./output -type f -name "*.conda"
 
       - name: Prepare artifacts for upload
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
           mkdir -p conda-packages-temp
           find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
@@ -68,9 +107,10 @@ jobs:
           ls -la conda-packages-temp/
 
       - name: Upload conda package artifacts
+        if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v4
         with:
-          name: conda-package-unilabos
+          name: conda-package-unilabos-${{ matrix.platform }}
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml
index 3909ee44..b3db365b 100644
--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.1
+  version: 0.10.2
 source:
   path: ../../unilabos_msgs
   target_directory: src
diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml
index 0a2c7780..0eb739b6 100644
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.1"
+  version: "0.10.2"
 
 source:
   path: ../..
diff --git a/setup.py b/setup.py
index 740b3784..346907b2 100644
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.1',
+    version='0.10.2',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
diff --git a/unilabos/app/main.py b/unilabos/app/main.py
index e9d2f15b..210f3e2b 100644
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -43,10 +43,11 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
+                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
                 sys.argv[i] = new_arg
                 break
 
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
@@ -128,6 +129,11 @@ def parse_args():
         default="",
         help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置",
     )
+    parser.add_argument(
+        "--skip_env_check",
+        action="store_true",
+        help="跳过启动时的环境依赖检查",
+    )
     return parser
 
 
@@ -138,6 +144,17 @@ def main():
     convert_argv_dashes_to_underscores(args)
     args_dict = vars(args.parse_args())
 
+    # 环境检查 - 检查并自动安装必需的包 (可选)
+    if not args_dict.get("skip_env_check", False):
+        from unilabos.utils.environment_check import check_environment
+
+        print_status("正在进行环境依赖检查...", "info")
+        if not check_environment(auto_install=True):
+            print_status("环境检查失败，程序退出", "error")
+            os._exit(1)
+    else:
+        print_status("跳过环境依赖检查", "warning")
+
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
     if os.getcwd().endswith("unilabos_data"):
@@ -151,17 +168,22 @@ def main():
             if not os.path.exists(config_path):
                 print_status(
                     f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error")
+                    "error",
+                )
                 os._exit(1)
     elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
         config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))):
+    elif not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
         print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
         print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
         if input() != "n":
             os.makedirs(working_dir, exist_ok=True)
             config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path)
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
             print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
             os._exit(1)
diff --git a/unilabos/utils/__init__.py b/unilabos/utils/__init__.py
index 80b95730..8209b5a3 100644
--- a/unilabos/utils/__init__.py
+++ b/unilabos/utils/__init__.py
@@ -1,7 +1,8 @@
 from unilabos.utils.log import logger
+from unilabos.utils.environment_check import check_environment, EnvironmentChecker
 
 # 确保日志配置在导入utils包时自动应用
 # 这样任何导入utils包或其子模块的代码都会自动配置好日志
 
-# 导出logger，使其可以通过from unilabos.utils import logger直接导入
-__all__ = ['logger']
+# 导出logger和环境检查工具，使其可以直接导入
+__all__ = ["logger", "check_environment", "EnvironmentChecker"]
diff --git a/unilabos/utils/environment_check.py b/unilabos/utils/environment_check.py
new file mode 100644
index 00000000..cd839589
--- /dev/null
+++ b/unilabos/utils/environment_check.py
@@ -0,0 +1,187 @@
+"""
+环境检查模块
+用于检查并自动安装 UniLabOS 运行所需的 Python 包
+"""
+
+import argparse
+import importlib
+import subprocess
+import sys
+from .banner_print import print_status
+
+
+class EnvironmentChecker:
+    """环境检查器"""
+
+    def __init__(self):
+        # 定义必需的包及其安装名称的映射
+        self.required_packages = {
+            # 包导入名 : pip安装名
+            "paho.mqtt": "paho-mqtt",
+            "opentrons_shared_data": "opentrons_shared_data",
+        }
+
+        # 特殊安装包（需要特殊处理的包）
+        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
+
+        self.missing_packages = []
+        self.failed_installs = []
+
+    def check_package_installed(self, package_name: str) -> bool:
+        """检查包是否已安装"""
+        try:
+            importlib.import_module(package_name)
+            return True
+        except ImportError:
+            return False
+
+    def install_package(self, package_name: str, pip_name: str) -> bool:
+        """安装包"""
+        try:
+            print_status(f"正在安装 {package_name} ({pip_name})...", "info")
+
+            # 构建安装命令
+            cmd = [sys.executable, "-m", "pip", "install", pip_name]
+
+            # 执行安装
+            result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)  # 5分钟超时
+
+            if result.returncode == 0:
+                print_status(f"✅ {package_name} 安装成功", "success")
+                return True
+            else:
+                print_status(f"❌ {package_name} 安装失败: {result.stderr}", "error")
+                return False
+
+        except subprocess.TimeoutExpired:
+            print_status(f"❌ {package_name} 安装超时", "error")
+            return False
+        except Exception as e:
+            print_status(f"❌ {package_name} 安装异常: {str(e)}", "error")
+            return False
+
+    def check_all_packages(self) -> bool:
+        """检查所有必需的包"""
+        print_status("开始检查环境依赖...", "info")
+
+        # 检查常规包
+        for import_name, pip_name in self.required_packages.items():
+            if not self.check_package_installed(import_name):
+                self.missing_packages.append((import_name, pip_name))
+
+        # 检查特殊包
+        for package_name, install_url in self.special_packages.items():
+            if not self.check_package_installed(package_name):
+                self.missing_packages.append((package_name, install_url))
+
+        if not self.missing_packages:
+            print_status("✅ 所有依赖包检查完成，环境正常", "success")
+            return True
+
+        print_status(f"发现 {len(self.missing_packages)} 个缺失的包", "warning")
+        return False
+
+    def install_missing_packages(self, auto_install: bool = True) -> bool:
+        """安装缺失的包"""
+        if not self.missing_packages:
+            return True
+
+        if not auto_install:
+            print_status("缺失以下包:", "warning")
+            for import_name, pip_name in self.missing_packages:
+                print_status(f"  - {import_name} (pip install {pip_name})", "warning")
+            return False
+
+        print_status(f"开始自动安装 {len(self.missing_packages)} 个缺失的包...", "info")
+
+        success_count = 0
+        for import_name, pip_name in self.missing_packages:
+            if self.install_package(import_name, pip_name):
+                success_count += 1
+            else:
+                self.failed_installs.append((import_name, pip_name))
+
+        if self.failed_installs:
+            print_status(f"有 {len(self.failed_installs)} 个包安装失败:", "error")
+            for import_name, pip_name in self.failed_installs:
+                print_status(f"  - {import_name} (pip install {pip_name})", "error")
+            return False
+
+        print_status(f"✅ 成功安装 {success_count} 个包", "success")
+        return True
+
+    def verify_installation(self) -> bool:
+        """验证安装结果"""
+        if not self.missing_packages:
+            return True
+
+        print_status("验证安装结果...", "info")
+
+        failed_verification = []
+        for import_name, pip_name in self.missing_packages:
+            if not self.check_package_installed(import_name):
+                failed_verification.append((import_name, pip_name))
+
+        if failed_verification:
+            print_status(f"有 {len(failed_verification)} 个包验证失败:", "error")
+            for import_name, pip_name in failed_verification:
+                print_status(f"  - {import_name}", "error")
+            return False
+
+        print_status("✅ 所有包验证通过", "success")
+        return True
+
+
+def check_environment(auto_install: bool = True, show_details: bool = True) -> bool:
+    """
+    检查环境并自动安装缺失的包
+
+    Args:
+        auto_install: 是否自动安装缺失的包
+        show_details: 是否显示详细信息
+
+    Returns:
+        bool: 环境检查是否通过
+    """
+    checker = EnvironmentChecker()
+
+    # 检查包
+    if checker.check_all_packages():
+        return True
+
+    # 安装缺失的包
+    if not checker.install_missing_packages(auto_install):
+        if show_details:
+            print_status("请手动安装缺失的包后重新启动程序", "error")
+        return False
+
+    # 验证安装
+    if not checker.verify_installation():
+        if show_details:
+            print_status("安装验证失败，请检查网络连接或手动安装", "error")
+        return False
+
+    return True
+
+
+if __name__ == "__main__":
+    # 命令行参数解析
+    parser = argparse.ArgumentParser(description="UniLabOS 环境依赖检查工具")
+    parser.add_argument("--no-auto-install", action="store_true", help="仅检查环境，不自动安装缺失的包")
+    parser.add_argument("--silent", action="store_true", help="静默模式，不显示详细信息")
+
+    args = parser.parse_args()
+
+    # 执行环境检查
+    auto_install = not args.no_auto_install
+    show_details = not args.silent
+
+    success = check_environment(auto_install=auto_install, show_details=show_details)
+
+    if not success:
+        if show_details:
+            print_status("环境检查失败", "error")
+        sys.exit(1)
+    else:
+        if show_details:
+            print_status("环境检查完成", "success")
diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml
index 819cc8c9..c4ee99ca 100644
--- a/unilabos_msgs/package.xml
+++ b/unilabos_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.1</version>
+  <version>0.10.2</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <license>MIT</license>