See below  two videos ( 1 + 3 mins)  how in 4 steps  it is very easy to Design ( thanks to CATIA), Create and Simulate ( thank to DELMIA) Robot Gripper in V6.

This following V6 Experience is Robot Gripper to mount Seat Car inside vehicule:

1: Here below Robot Gripper in Action within ShopFloor

2:  How in 4 steps, it is very easy to Design / Create / Simulate Robot Gripper in V6