Charge shaping method

A method for forming a contoured composite charge, the method comprising:

• positioning a composite charge onto lower plates of a plurality of placement end effectors;
• rotating upper plates of the plurality of placement end effectors along a first axis to cover the composite charge, such that the composite charge is restrained between an upper plate and a lower plate of one of the plurality of placement end effectors and the composite charge is allowed to slip between the upper plates and corresponding lower plates of others of the plurality of placement end effectors;
• activating a pressure pad of a first upper plate to restrain the composite charge relative to the first upper plate and a respective lower plate while the remaining end effectors' pressure pads are not activated;
• contouring the composite charge to a tool using the plurality of placement end effectors to form a contoured composite charge;
• and
• compacting the contoured composite charge using a roller.