218 during the sweeping. In some illustrative examples, reacting loads from forming end effector 200 comprises reacting loads from forming end effector 200 through legs 215 and legs 217 of forming end effector 200 connected to mandrel 218. In some illustrative examples, reacting loads from forming end effector 200 comprises reacting loads from forming end effector 200 through engagement pins 214 and engagement pins 216 of legs 215 and legs 217. In some illustrative examples, connection to mandrel 218 through engagement pins 214 and engagement pins 216 will react loads from forming end effector 200 to mandrel 218 during forming of composite material 204. Reacting the loads from forming composite material 204 into mandrel 218 allows for use of forming end effector 200 rather than a larger gantry system.

In some illustrative examples, forming end effector 200 comprises frame 206, number of actuators 220, 222, 224, and 226 movably connected to frame 206, and forming heads 210 with sweepers 212 movably connected to frame 206 by number of actuators 220, 222, 224, and 226. Number of actuators 220, 222, 224, and 226 connected to forming heads 210 by pairs of hinges such that forming heads 210 are configured to rotate to form composite material 204. Forming end effector 200 further comprises a number of legs 208 movably connected to frame 206. The number of legs 208 have engagement pins, engagement pins 214 and engagement pins 216, configured to connect forming end effector 200 to mandrel 218 and react loads from forming end effector 200 into mandrel 218 during forming of composite material 204.

In some illustrative examples, each of forming heads 210 comprises a set of compliant joints to provide forming of composite material 204 on mandrel 218 with bend 270. Bend 270 is perpendicular to length 268 of mandrel 218. Bend 270 can be a vertical bend or a horizontal bend in mandrel 218. In some illustrative examples, the set of compliant joints can be used to accommodate bend 270 in either a horizontal or vertical direction of mandrel 218.

The illustration of manufacturing environment 202 in FIG. 2 is not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be unnecessary. Also, the blocks are presented to illustrate some functional components. One or more of these blocks may be combined, divided, or combined and divided into different blocks when implemented in an illustrative embodiment.

For example, in some illustrative examples, sweepers 212 can take the form of a different type of sweeper than inflatable bladders 260. In some illustrative examples, sweepers 212 can take the form of foam sweepers, squeegees, or other acceptable forms of sweepers.

Turning now to FIG. 3, an illustration of an isometric view of a forming end effector in an engaged orientation is depicted in accordance with an illustrative embodiment. Forming end effector 300 is a physical implementation of forming end effector 200 of FIG. 2.

Forming end effector 300 comprises frame 302, number of legs 304 movably connected to frame 302, and forming heads 306 with sweepers 308 movably connected to frame 302 by number of actuators 310 movably connected to frame 302. As can be seen in view 301, number of legs 304 can be moved by actuators 312. As depicted, actuators 312 are hydraulic actuators. Number of legs 304 has engagement pins 305 configured to connect forming end effector 300 to a mandrel. In some illustrative examples, engagement pins 305 react loads from the forming end effector 300 into the mandrel during forming of the composite material. In some illustrative examples, engagement pins 305 provide a number of utilities from the mandrel to forming end effector 300. In some illustrative examples, engagement pins 305 are hollow and act as a conduit for providing hydraulic pressure from the mandrel to forming end effector 300. In some illustrative examples, engagement pins 305 are further configured to receive at least one utility through engagement pins 305 and transport the utility to other components of forming end effector 300.

Number of legs 304 are movably connected to frame 302 to allow for application and removal of forming end effector 300 to a mandrel. The forming end effector 300 can be applied to a mandrel, form a composite material, and then be removed from the mandrel. The forming end effector 300 can be used serially across a mandrel. The forming end effector 300 can be used on a plurality of different mandrels.

In view 301 of forming end effector 300, forming end effector 300 is in engaged orientation 318. Engaged orientation 318 is an orientation for forming end effector 300 to be connected to a mandrel. When in engaged orientation 318, forming end effector 300 can be used for forming a composite material to the mandrel.

To form a composite material to a mandrel, number of actuators 310 move along number of translation systems 314. In some illustrative examples, number of translation systems 314 comprise a number of cart and rail systems. In these illustrative examples, number of actuators 310 are connected to a number of cart and rail systems to move number of actuators 310 in a horizontal direction relative to frame 302. When an actuator of number of actuators 310 moves in a horizontal direction, the actuator moves towards one pair of legs in number of legs 304 and away from another pair of legs in number of legs.

In some illustrative examples, forming end effector 300 can transport the composite material (not depicted) to be formed. As depicted, forming end effector 300 comprises composite holding system 316. Composite holding system 316 allows forming end effector 300 to carry a composite material as the forming end effector 300 is moved to a mandrel and connected to the mandrel.

As depicted, sweepers 308 take the form of inflatable bladders 309. In other illustrative examples, sweepers 308 can take the form of squeegees or other forms of sweepers capable of reaching all indentations and surface features.

Forming heads 306 are connected to number of actuators 310 by pairs of hinges configured to rotate sweepers 308 relative to a mandrel beneath frame 302. The hinges and number of actuators 310 are configured to enable translational sweeping of sweepers 308. The hinges and number of actuators 310 are configured to enable independent rotational sweeping of sweepers 308. The rotational sweeping allows for sweepers 308 to rotate around a corner of a forming surface of a mandrel.

Turning now to FIG. 4, an illustration of an isometric view of a forming end effector in an unengaged orientation is depicted in accordance with an illustrative embodiment. View 400 is a view of forming end effector 300 in unengaged orientation 401. Forming end effector 300 can be transported to a mandrel or away from a mandrel in unengaged orientation 401.

In view 400, composite holding systems of forming end effector 300 are visible. Forming end effector 300 comprises composite holding system 403 and composite holding system 405.

Forming heads 306 further comprises vacuum pads 402 configured to hold the composite material prior to forming. In this illustrative example, composite holding system 403 comprises vacuum pads 402 configured to hold composite material prior to forming. Composite holding system 403 further comprises guard 404. Guard 404 is a mechanical component to safeguard composite material while transporting composite material.

Forming heads 306 further comprise vacuum pads 406 configured to hold the composite material prior to forming. In this illustrative example, composite holding system 405 comprises vacuum pads 406 configured to hold composite material prior to forming. Composite holding system 405 further comprises guard 408. Guard 408 is a mechanical component to safeguard composite material while transporting composite material.

Turning now to FIG. 5, an illustration of a front view of a forming end effector in an unengaged orientation is depicted in accordance with an illustrative embodiment. View 500 is a front view of forming end effector 300. In view 500 forming end effector 300 is in unengaged orientation 401.

Forming end effector 300 comprises center actuator 504 connected to frame 302 between forming heads 306. Center pressers 506 are movably connected to center actuator 504.

The center pressers 506 comprise inflatable bladders movably connected to center actuator 504.

Utility port 502 is connected to frame 302. Utility port 502 is configured to interface with a robotic arm for transportation of forming end effector 300. Utility port 502 is also configured to interface with utilities for forming operations independently of a robotic arm. Utility port 502 allows for powering and operating forming end effector 300 without the robot staying connected.

Turning now to FIG. 6, an illustration of an isometric view of a forming end effector in an engaged orientation is depicted in accordance with an illustrative embodiment. In view 600 of forming end effector 300, utility port 502 is visible. As depicted, utility port 502 takes the form of a robotic tool changer.

Turning now to FIG. 7, an illustration of an isometric view of an engagement pin on a leg of a forming end effector is depicted in accordance with an illustrative embodiment. In view 700, engagement pin 704 is connected to leg 702 of forming end effector 701. Engagement pin 704 is a physical implementation of an engagement pin of engagement pins 214 of FIG. 2. Engagement pin 704 can be one of engagement pins 305 of FIGS. 3-6. Engagement pin 704 comprises vacuum channel 706. Vacuum channel 706 can be used to provide a resource such as a vacuum or pneumatic pressure to forming end effector 701.

Engagement pin 704 can be used to connect forming end effector 701 to a mandrel. Connection to a mandrel through engagement pin 704 will react loads from forming end effector 701 to the mandrel during forming of a composite material.

Turning now to FIG. 8, an illustration of an isometric view of a composite holding system of a forming end effector is depicted in accordance with an illustrative embodiment. View 800 is an isometric view of composite holding system 806 of forming end effector 802. Composite holding system 806 is a physical implementation of composite holding system 275 of FIG. 2. Composite holding system 806 can be the same as composite holding system 316 of FIGS. 3-6.

Composite holding system 806 is connected to forming head 804 of forming end effector 802. Composite holding system 806 is configured to hold composite material 812 to be formed by forming end effector 802. Composite holding system 806 allows forming end effector 802 to hold and carry composite material 812 to the mandrel upon which composite material 812 will be formed.

Composite holding system 806 comprises vacuum pads 810 configured to hold composite material 812 prior to forming. Composite holding system 806 further comprises guard 808. Guard 808 is a mechanical component to safeguard composite material 812 while transporting composite material 812.

Turning now to FIG. 9, an illustration of a front view of a forming end effector in an engaged orientation and connected to a mandrel is depicted in accordance with an illustrative embodiment. In view 900 forming end effector 902 is connected to mandrel 904. Forming end effector 902 is a physical implementation of forming end effector 200 of FIG. 2. Forming end effector 902 can be the same as forming end effector 300 of FIGS. 3-6. In some illustrative examples, forming end effector 902 is connected to mandrel 904 by engagement pin 704 of FIG. 7. In some illustrative examples, forming end effector 902 is the same as forming end effector 802 of FIG. 8.

In view 900, forming end effector 902 is at the beginning of the forming process. Forming end effector 902 comprises frame 901, number of legs 908 movably connected to frame 901, and forming heads 914 with sweepers 916. Number of legs 908 have engagement pins (not depicted) configured to connect forming end effector 902 to mandrel 904 and react loads from forming end effector 902 into mandrel 904 during forming of a composite material.

In view 900, forming end effector 902 is in engaged orientation 906. In engaged orientation 906, number of legs 908 of forming end effector 902 connect forming end effector 902 to mandrel 904. Mandrel 904 is a tool upon which forming end effector 902 will form composite material 917. Mandrel 904 comprises base 910 and forming surface 912. Base 910 is a portion of mandrel 904 configured to interface with forming end effector 902. In some illustrative examples, base 910 also interacts with a manufacturing floor. Forming surface 912 is a surface upon which composite material 917 will be formed. Forming surface 912 is the surface upon which sweepers 916 of forming end effector 902 will form composite material 917.

In view 900, sweepers 916 are in contact with composite material 917 to apply pressure to composite material 917 on forming surface 912. Center pressers 920 are not activated in view 900. In view 900, center pressers 920 are not yet inflated. Forming heads 914 with sweepers 916 movably connected to frame 901 by number of actuators 903. Number of actuators 903 is connected to forming heads 914 by pairs of hinges such that forming heads 914 are configured to rotate to form composite material 917.

Center actuator 918 is connected to frame 901 between forming heads 914. Center pressers 920 movably connected to center actuator 918. Center pressers 920 comprise inflatable bladders movably connected to center actuator 918.

Turning now to FIG. 10, an illustration of a front view of a forming end effector in an engaged orientation and connected to a mandrel is depicted in accordance with an illustrative embodiment. Between view 900 and view 1000, forming heads 914 have moved relative to mandrel 904. In view 1000, the lateral inflatable bladders, sweepers 916, begin to sweep form outward. In view 1000, inflatable bladders 1020 of center pressers 920 push against the inside of inflatable bladders of sweepers 916 as center actuator 918 extends downward and rotating pedals 1018 rotate open.

In view 1000, actuators 903 comprise number of actuators 1002 and number of actuators 1008. In view 1000, forming heads 914 comprise forming head 1004 connected to number of actuators 1002 and forming head 1010 connected to number of actuators 1008. Actuators 1002 are connected to translation system 1006 and actuators 1008 are connected to translation system 1012. Between view 900 and view 1000, actuators 1002 and forming head 1004 have moved in direction 1014 away from center actuator 918. Between view 900 and view 1000, actuators 1008 and forming head 1010 have moved in direction 1016 away from center actuator 918. Between view 900 and view 1000, actuators 1002 and actuators 1008 have moved in opposite directions so that actuators 1002 and actuators 1008 move away from each other.

The horizontal positions, angles, and extensions of actuators 1002 control the movement of forming head 1004 and its respective sweeper. The horizontal positions, angles, and extensions of actuators 1002 are controlled to perform both rotational sweeping and translational sweeping. Between view 900 and view 1000, actuators 1002 moved in direction 1014 to create translational sweeping of composite material 917 by the sweeper of forming head 1004 in direction 1014.

The horizontal positions, angles, and extensions of actuators 1008 control the movement of forming head 1010 and its respective sweeper. The horizontal positions, angles, and extensions of actuators 1008 are controlled to perform both rotational sweeping and translational sweeping. Between view 900 and view 1000, actuators 1008 moved in direction 1016 to create translational sweeping of composite material 917 by the sweeper of forming head 1010 in direction 1016.

In view 1000, center pressers 920 is movably connected to center actuator 918 have been activated for compaction of composite material 917. In view 1000, center pressers 920 take the form of inflatable bladders 1020. Inflatable bladders 1020 are connected to rotating pedals 1018. Between view 900 and view 1000, rotating pedals have rotated outwardly to allow for inflation of inflatable bladders 1020.

Turning now to FIG. 11, an illustration of a front view of a forming end effector in an engaged orientation and connected to a mandrel is depicted in accordance with an illustrative embodiment. In this illustrative example, sweepers 916 comprise inflatable bladders, inflatable bladder 1118 and inflatable bladder 1120. In view 1100, inflatable bladder 1118 and inflatable bladder 1120 begin to rotate about corner 1202 and corner 1204 of mandrel 904. In some illustrative examples, corner 1202 and corner 1204 can be referred to as radiuses. Between view 1000 and view 1100, the horizontal positions, angles, and extensions of actuators 1002 have changed to begin rotating inflatable bladder 1118 around corner 1202. Between view 1000 and view 1100, the horizontal positions, angles, and extensions of actuators 1008 have changed to begin rotating inflatable bladder 1120 around corner 1204.

In view 1100, inflatable bladder 1118 and inflatable bladder 1120 sweep, but begin to rotate around each corner of mandrel 904. Rotating forming head 1004 and forming head 1010 prevents undesirable amounts of pulling on composite material 917.

Actuators 1002 comprises actuator 1102 and actuator 1104. Actuator 1102 is connected to forming head 1004 by hinge 1110. Actuator 1104 is connected to forming head 1004 by hinge 1112. Hinge 1110 is a first distance away from forming head 1004 and hinge 1112 is a second distance away from forming head 1004. As can be seen in view 1100, a difference between the first distance and the second distance enables rotation of inflatable bladder 1118 for forming composite material 917 around edges such as corner 1202. As can be seen in view 1100, hinge 1110 is a greater distance from forming head 1004 than hinge 1112. By at least one of extending actuator 1102 and retracting actuator 1104, inflatable bladder 1118 is rotated in direction 1122.

Actuators 1008 comprises actuator 1106 and actuator 1108. Actuator 1106 is connected to forming head 1010 by hinge 1114. Actuator 1108 is connected to forming head 1010 by hinge 1116. Hinge 1114 is a first distance away from forming head 1010 and hinge 1116 is a second distance away from forming head 1010. As can be seen in view 1100, a difference between the first distance and the second distance enables rotation of inflatable bladder 1120 for forming composite material 917 around edges such as corner 1204. As can be seen in view 1100, hinge 1116 is a greater distance from forming head 1010 than hinge 1114. By at least one of extending actuator 1108 and retracting actuator 1106, inflatable bladder 1120 is rotated in direction 1124.

Turning now to FIG. 12, an illustration of a front view of a forming end effector in an engaged orientation and connected to a mandrel is depicted in accordance with an illustrative embodiment. In view 1200, inflatable bladder 1118 has rotated around corner 1202 in direction 1122 and is compacting composite material 917 against forming surface 912 of mandrel 904. In view 1200, rotation of inflatable bladder 1118 is complete and inflatable bladder 1118 begins translational sweeping in direction 1206 along forming surface 912.

In view 1200, inflatable bladder 1120 has rotated around corner 1204 in direction 1124 and is compacting composite material 917 against forming surface 912 of mandrel 904. In view 1200, rotation of inflatable bladder 1120 is complete and inflatable bladder 1120 begins translational sweeping in direction 1208 along forming surface 912.

Turning now to FIG. 13, an illustration of a front view of a forming end effector in an engaged orientation and connected to a mandrel is depicted in accordance with an illustrative embodiment. In view 1300, inflatable bladder 1118 is being rotated in direction 1122. In view 1300, inflatable bladder 1120 is being rotated in direction 1124. Rotation of inflatable bladder 1118 in direction 1122 can be referred to as reverse rotation in this example.

In view 1300, inflatable bladder 1118 and inflatable bladder 1120 rotate in reverse to further sweep and pull composite material 917 as it nears the end of forming. In view 1300, actuator 1102 moves horizontally in direction 1014 to perform rotational sweeping and translational sweeping. Actuator 1104 is extended to perform rotational sweeping and translational sweeping. The cooperative interaction of actuator 1102 and actuator 1104 purposefully creates rotational motion.

Turning now to FIG. 14, an illustration of a front view of a forming end effector in an engaged orientation and connected to a mandrel is depicted in accordance with an illustrative embodiment. In view 1400, inflatable bladder 1118 is being rotated in direction 1122. In view 1400, inflatable bladder 1120 is being rotated in direction 1124. Rotation of inflatable bladder 1120 in direction 1124 can be referred to as reverse rotation in this example.

Between view 1300 and view 1400, actuator 1106 has been extended to rotate inflatable bladder 1120 in direction 1124. Between view 1300 and view 1400, actuator 1106 has been extended to rotate inflatable bladder 1120 in direction 1124.

In view 1400, reverse rotation and pulling is depicted. In view 1400, rotational sweeping and translational sweeping is depicted. In view 1400, the translational sweeping comprises movement of inflatable bladder 1118 down forming surface 912 away from corner 1202. In view 1400, the translational sweeping comprises movement of inflatable bladder 1120 down forming surface 912 away from corner 1204. Rotational sweeping and translational sweeping while compacting the last bit of composite material 917 will prevent the layers from peeling back and wrinkling.

Turning now to FIG. 15, an illustration of an isometric view of forming end effectors positioned relative to a mandrel is depicted in accordance with an illustrative embodiment. Forming end effector 1504 and forming end effector 1506 are physical implementations of forming end effector 200 of FIG. 2. Mandrel 1502 is a physical implementation of mandrel 218 of FIG. 2. Forming end effector 1504 can be the same as forming end effector 300 of FIGS. 3-6. Forming end effector 1506 can be the same as forming end effector 300 of FIGS. 3-6. Forming end effector 1504 can be the same as forming end effector 902 of FIGS. 9-14. Forming end effector 1506 can be the same as forming end effector 902 of FIGS. 9-14.

In view 1500, forming end effector 1504 is connected to base 1510 of mandrel 1502 and is forming a composite material onto forming surface 1512 of mandrel 1502. In this illustrative example, engagement pins 1516 of forming end effector 1504 engage with holes 1514 in base 1510 of mandrel 1502. Engagement pins 1516 lock forming end effector 1504 to mandrel 1502.

After forming the composite material on mandrel 1502, forming end effector 1504 can be disconnected and moved away from mandrel 1502. In some illustrative examples, to move forming end effector 1504 away from mandrel 1502, robotic arm 1508 connects to forming end effector 1504 to disengage forming end effector 1504 from mandrel 1502 and move forming end effector 1504 away from mandrel 1502. In this illustrative example, robotic arm 1508 connects to forming end effector 1504 using utility port 1518.

In view 1500, forming end effector 1506 is being positioned relative to mandrel 1502 and connected to mandrel 1502. In view 1500, robotic arm 1508 is connected to forming end effector 1506 and is positioning forming end effector 1506 relative to mandrel 1502. Robotic arm 1508 is connected to utility port 1522 of forming end effector 1506. In this illustrative example, engagement pins 1520 of forming end effector 1506 will be used to engage with holes 1514 in base 1510 of mandrel 1502. Engagement pins 1520 will lock forming end effector 1506 to mandrel 1502.

As depicted, neither forming end effector 1504 or forming end effector 1506 is positioned over a bend in mandrel 1502. However, in some illustrative examples, at least one of forming end effector 1504 or forming end effector 1506 can be used on a bend of mandrel 1502 due to a set of compliant joints in the forming heads.

Turning now to FIG. 16, an illustration of an isometric view of a center actuator with center pressers of a forming end effector is depicted in accordance with an illustrative embodiment. In view 1600, forming end effector 1602 comprises center actuator 1606 connected to frame 1604. Forming end effector 1602 can be a physical implementation of forming end effector 200. Forming end effector 1602 can be the same as forming end effector 300 of FIGS. 3-6. Forming end effector 1602 can include leg 702 of FIG. 7. Forming end effector 1602 can be the same as forming end effector 802 of FIG. 8. Forming end effector 1602 can be the same as forming end effector 902 of FIGS. 9-14. Forming end effector 1602 can be the same as either of forming end effector 1504 or forming end effector 1506.

Center actuator 1606 of forming end effector 1602 is connected to frame 1604. Center actuator 1606 connected to frame 1604 is positioned between forming heads. Center actuator comprises extendable shafts 1607 connected to platform 1608. Center pressers 1610 are movably connected to center actuator 1606.

Center pressers 1610 comprise inflatable bladders 1612 movably connected to center actuator 1606. Center pressers 1610 comprise inflatable bladders 1612 connected to rotating pedals 1614. As depicted, inflatable bladders 1612 are not filled. Inflatable bladders 1612 are collapsed to conserve space. Rotating pedals 1614 can rotate away from each other to provide additional space to inflate inflatable bladders 1612.

Turning now to FIG. 17, an illustration of an isometric view of a center actuator with center pressers of a forming end effector is depicted in accordance with an illustrative embodiment. In view 1700, center pressers 1610 are in extended position 1702. In extended position 1702, center pressers 1610 can be used to hold a center portion of a composite material against a forming surface of a mandrel.

Between view 1600 and view 1700, pedals 1614 have rotated outwardly away from a center of platform 1608. Platform 1608 acts as a hard stop for pedals 1614.

Turning now to FIG. 18, an illustration of an isometric view of a forming head and a respective composite holding system of a forming end effector is depicted in accordance with an illustrative embodiment. Forming head 1802 comprises portion 1804 and portion 1806 connected by set of compliant joints 1808. Set of compliant joints 1808 enables forming of a composite material on a mandrel with a bend.

Portion 1804 of forming head 1802 is a separate plate from portion 1806. Having two separate plates, portion 1804 and portion 1806 allows for flexing of forming head 1802. Set of compliant joints 1808 comprises rod ends with floating pins to allow for flexing. Set of compliant joints 1808 comprise compliant rod end and rail joints that allow for conforming to the kinks or bends in a mandrel.

Composite holding system 1810 is visible in view 1800. Composite holding system 1810 comprises vacuum pads 1812 and guard 1814. Vacuum pads 1812 comprise vacuum pad 1816, vacuum pad 1818, vacuum pad 1820, and vacuum pad 1822. As portion 1804 moves relative to portion 1806, vacuum pad 1816 and vacuum pad 1818 move relative to vacuum pad 1820 and vacuum pad 1822.

As depicted, set of compliant joints 1808 allows an angle between portion 1804 and portion 1806 in direction 1824. Direction 1824 may be referred to as a vertical direction.

Turning now to FIG. 19, an illustration of a top view of a forming head and a respective composite holding system of a forming end effector is depicted in accordance with an illustrative embodiment. View 1900 is a view from direction 1824 of FIG. 18.

In view 1900, the floating pins of set of compliant joints 1808 are visible. Set of compliant joints 1808 comprise floating pin 1902 and floating pin 1904. The floating pins, floating pin 1902 and floating pin 1904, will extend through a respective rod end of a connection rod to join forming head 1802 to the forming end effector. Floating pin 1902 and floating pin 1904 are connected to outer rod ends that are part of forming head 1802.

In view 1900, movement of portion 1804 and portion 1806 can be moved in direction 1910. Movement in direction 1910 causes an edge of portion 1804 to be a varying distance from an edge of portion 1806. Movement in direction 1910 can be referred to as movement in a horizontal direction.

In this illustrative example, set of compliant joints 1808 forms part of first set of hinges 1906 and second set of hinges 1908. First set of hinges 1906 can include hinge 232 of FIG. 2. Second set of hinges 1908 can include hinge 233 of FIG. 2. Extending selected actuators to impart rotational sweeping comprises extending actuators connected to one of first set of hinges 1906 or second set of hinges 1908 more than the other of first set of hinges 1906 or second set of hinges 1908.

Turning now to FIG. 20, a flowchart of a method of forming a composite material onto a mandrel is depicted in accordance with an illustrative embodiment. Method 2000 can be used to form a composite component of aircraft 100 of FIG. 1. Method 2000 can be performed using forming end effector 200 of FIG. 2. Method 2000 can be performed using forming end effector 300 of FIGS. 3-6. Method 2000 can be performed using forming end effector 701 of FIG. 7. Method 2000 can be performed using forming end effector 802 of FIG. 8. Method 2000 can be performed using forming end effector 902 of FIGS. 9-14. Method 2000 can be performed using mandrel 1502 and at least one of forming end effector 1504 or forming end effector 1506 of FIG. 15. Method 2000 can be performed using a forming end effector having center pressers 1610 of FIGS. 16-17. Method 2000 can be performed using a forming end effector having composite holding system 1810 of FIGS. 18-19.

Method 2000 positions a forming end effector carrying the composite material over the mandrel (operation 2002). Method 2000 connects the forming end effector to the mandrel (operation 2004). Method 2000 sweeps the composite material onto the mandrel using sweepers of the forming end effector (operation 2006). Afterwards, method 2000 terminates.

In some illustrative examples, positioning the forming end effector over the mandrel comprises moving the forming end effector using a robotic arm (operation 2008). In some illustrative examples, the robotic arm is only used to transport and connect the forming end effector to the mandrel. In some illustrative examples, the robotic arm is used to move multiple forming end effectors to be connected to the mandrel.

In some illustrative examples, method 2000 disconnects the robotic arm from a utility port of the forming end effector after positioning the forming end effector (operation 2010). In some illustrative examples, method 2000 connects the forming end effector to utilities using the utility port prior to sweeping the composite material onto the mandrel (operation 2012). In some illustrative examples, the utilities are provided by the mandrel. In some illustrative examples, the utilities are provided by outlets on the manufacturing floor.

In some illustrative examples, connecting the forming end effector to the mandrel comprises locking the forming end effector to the mandrel using engagement pins (operation