The Boeing Company
End effectors carrying plies of limp material for shaping by a mandrel

Abstract:

Systems and methods are provided for enhancing picking and placement of plies of material. One embodiment is an apparatus that includes an end effector of a robot. The end effector includes a frame, and cup assemblies that are attached to the frame. The cup assemblies each include a shaft and a head. The end effector also includes Bernoulli cups attached to the heads of the cup assemblies, and grippers attached to heads of the cup assemblies.