Abstract: Described herein is an end effector for picking up and placing an object on a rigid tool. The end effector comprises a plate and an internal seal attached to the plate. The internal seal comprises an internal permeable layer and an internal impermeable film. The end effector further comprises at least one vacuum port extending through the plate and open to the internal permeable layer. Additionally, the end effector may comprise an external seal attached to the plate. The external seal comprises an external permeable layer and an external impermeable film.

Abstract: Described herein are flexible truss systems and methods of transferring flexible composite parts using these systems. A flexible truss system comprises a flexible truss mechanism and composite pick-and-place mechanisms supported on the flexible truss mechanism and designed to attach to various composite parts. The flexible truss mechanism comprises flexible elongated members and slidable ribs coupled to each flexible elongated member. Specifically, each rib is slidably coupled to at least one flexible elongated member. In some examples, each rib is also fixedly coupled to another flexible elongated member. The slidable coupling allows the flexible truss mechanism to bend and follow the shape of a supported part, such that the composite pick-and-place mechanisms are able to contact and support different areas of the composite part. As such, the same flexible truss mechanism is able to support flexible composite parts having different shapes.

Abstract: Described herein is an end effector for picking up and placing an object on a rigid tool. The end effector comprises a plate and an internal seal attached to the plate. The internal seal comprises an internal permeable layer and an internal impermeable film. The end effector further comprises at least one vacuum port extending through the plate and open to the internal permeable layer. Additionally, the end effector may comprise an external seal attached to the plate. The external seal comprises an external permeable layer and an external impermeable film.

Abstract: A method of forming a composite part from a mufti-ply prepreg composite charge comprises reducing pressure inside a bladder, located in a chamber that is at atmospheric pressure, below the atmospheric pressure. The method also comprises placing the multi-ply prepreg composite charge, having a first shape, in the chamber and reducing pressure inside the chamber below the atmospheric pressure. The method additionally comprises, while maintaining pressure inside the chamber below the atmospheric pressure, expanding the bladder within the chamber by increasing pressure inside the bladder to the atmospheric pressure, so that the multi-ply prepreg composite charge is compressed between the bladder and a forming tool, which is located inside the chamber, and the multi-ply prepreg composite charge is configured by the forming tool to a second shape, different from the first shape. The method also comprises curing the multi-ply prepreg composite charge, having the second shape.

Abstract: Described herein are flexible truss systems and methods of transferring flexible composite parts using these systems. A flexible truss system comprises a flexible truss mechanism and composite pick-and-place mechanisms supported on the flexible truss mechanism and designed to attach to various composite parts. The flexible truss mechanism comprises flexible elongated members and slidable ribs coupled to each flexible elongated member. Specifically, each rib is slidably coupled to at least one flexible elongated member. In some examples, each rib is also fixedly coupled to another flexible elongated member. The slidable coupling allows the flexible truss mechanism to bend and follow the shape of a supported part, such that the composite pick-and-place mechanisms are able to contact and support different areas of the composite part. As such, the same flexible truss mechanism is able to support flexible composite parts having different shapes.