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I've been modeling a hermit crab and I don't know why but some areas of the mesh are really dark on some spots, like the legs and the claws. enter image description here

I hope you can help me fix it.

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This is called shadow terminator artifact and happens with some render engines on low poly meshes. It is a limitation that Cycles has, devs know about it.

Bug T37814: Artifacts in Cycles render for lowpoly models

enter image description here

enter image description here

The solution is to increase the polygon count.

The black on the silhouette is another kind of artifacts you might encounter called rejection sampling - also does go away with polycount.

You can change also the shading method. Your whole surface is set to smooth - it is interpolating the surface normals making shadows where there probably shouldn't be. You may want to turn on Auto-smooth or set some sharp edges:

How to smooth shade an object while retaining hard edges?

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Also, when rendering with Eevee, check if Contact Shadows option for your Light source is on. This option tends to give similar edgy-looking shadows in render, even with Subdivision Surface.

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Since Blender 2.9 you can now easily fix the Terminator Effect that you show, just tweak the Shadow Terminator Offset value in the Properties panel > Object > Shading:

enter image description here

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