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.