In a large pot, bring the chicken broth to a boil over high heat.
Add the pasta and cook until tender but still firm to the bite, stirring occasionally, about 8 to 10 minutes.
Drain pasta and place in a large bowl.
Meanwhile, place a grill pan over medium-high heat or preheat a gas or charcoal grill.
Drizzle the seafood, zucchini, eggplant, and tomatoes with olive oil and season with salt and pepper.
Grill the calamari and shrimp, just until cooked through, about 1 to 2 minutes a side.
Grill the zucchini and eggplant until tender, about 4 minutes a side.
Grill the tomatoes cut side down just until grill marks appear, about 2 minutes.
Cut the calamari bodies into 1-inch rings.
Add the calamari rings and tentacles and the shrimp to the bowl with the orzo.
Cut the zucchini, eggplant and tomatoes into 1-inch pieces and add them to the bowl with the orzo and seafood.
Toss to combine.
Add the cannellini beans, arugula, basil, parsley, lemon juice, extra-virgin olive oil, 1 1/2 teaspoons salt, and 1 1/2 teaspoons pepper and toss again.
Gently spoon the salad into a serving bowl and serve.