The design phase in robotics engineering is the core action for defining functionality. In soft robotics, especially in soft grabbing mechanisms, the challenge is to envision the interaction with different objects in terms of shape, size and stiffness. By enhancing the design phase with virtual reality (VR), all involved entities in the process are provided with a visualization method that facilitates the process and supports the functionality definition. In this way, utilizing VR, we exploit the possibilities of the designed soft grabbing robot and at the same time analyze different applications. When it comes to grabbing objects, application can vary over industry and sizes: from harvesting fruits and vegetables in the agricultural industry, over sorting objects in warehouses, to handling break bulk in ports. In this paper we demonstrate the use of VR in the conceptual design phase of a smart robotic grasper inspired by elephant's trunk. By applying VR in the early stages of the design process, we can analyze the robot and its interaction with the environment and intervene if needed in the CAD model. With this approach we are saving resources but more importantly time and at the end of the design stage we are confident in the robot's functionality and performances.

Smart material graspers have shown potential for different applications in terms of functionality and actuation, especially in handling arbitrary shapes, fragile objects and complex 3D geometries. However, to take these initial designs further towards real applications, the challenge remains to determine the optimal size, shape, and passive and smart material location. Virtual reality can be beneficial in the early concept generation as it can help visualize and understand the grasping process. The access to suitable hardware and the development of virtual reality (VR) software has resulted in increased use of this technology. The 3D visualization offered by VR especially in the early stages of the design process assists engineers in making appropriate and efficient decisions, and it can also support the interaction with the end user to iterate on potential design improvements. The conceptual phase is often overlooked and rushed by the other departments involved in the design and development process although it is of great importance for successful outcome. It is important to make the most of it in order to assure quality result. In order to ensure short conceptual phase that will not reflect on the products' quality we propose introduction of the VR in the early stages of the design process. In this paper we show how the use of VR can be beneficial in new product development. In this case we focus on the design of smart material grasper.

The digitalization of the product design process has become the new norm in the engineering design with the development of different CAD software, design analyses tools, and rapid prototyping techniques. More holistic approaches in the product design analyses include modeling of the manufacturing technologies and the entire logistics regarding the product life-cycle. Advanced design techniques have paved the way for engineers and designers to create new innovative products with unique functionalities or entirely change the shape of an existing traditional product. Generative and parametric design methods have established themselves in the recent years with benefits regarding material use and sustainability, but mostly with the development of the additive manufacturing technologies. They enable concepts like application driven design to become feasible, in this case lightweight structures while still maintaining structural integrity. In this work, an application driven design of non-homogeneous structure with tailored response to different external load conditions is presented. The structure design constraints in size and expected load capacity result in nonhomogeneous structure with optimal material distribution and structure mechanical response.