Design and Analysis of a Crab-Inspired Wheel-Legged Robot for Garden Flower and Grass Planting

To address the issues of high labor costs, inconsistent planting precision, and difficulty in operating on complex terrains in traditional garden flower and plant cultivation, this paper proposes a structural design scheme for a crab-inspired wheel-legged robot for garden flower and plant planting. 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.