Crab-inspired Wheel-leg Hybrid Gardening Robot

To address the issues of high labor costs, inconsistent planting precision, and operational difficulties on complex terrains in traditional garden flower and plant cultivation, a crab-inspired wheel-leg hybrid gardening robot was introduced. The walking structure of the robot adopts a crab-inspired wheel-leg composite structure, achieving multi-leg coordination and wheel-leg transition working mechanisms. The manipulator was designed with a 6-degree-of-freedom serial configuration, integrating dual-mode end-effectors for drilling and grasping. The kinematic equations were derived and established using the Denavit-Hartenberg （D-H） parameter method. Furthermore, a finite element analysis is conducted on the wheel-legged walking mechanism.The results indicated that the robot can conform the design and safety requirements, validating its technical and practical feasibility.