Systems and methods for robotic arm end effector for tailored through thickness reinforcement

An end effector for through thickness reinforcement of a fibrous preform, the end effector comprising:

• a body;
• a first presser foot and a second presser foot mounted to the body and moveable with respect to the body;
• a first needle and a second needle mounted to the body and moveable with respect to the body,
• wherein the first needle is configured to move between a first extended position and a first retracted position;
• a first sensor configured to detect whether the first presser foot has contacted the fibrous preform and whether the first presser foot is exerting a first predetermined force on the fibrous preform;
• and
• a second sensor configured to detect whether the second presser foot has contacted the fibrous preform and whether the second presser foot is exerting a second predetermined force on the fibrous preform, the second predetermined force being different from the first predetermined force,
• wherein the first needle extends through the first presser foot and the second needle extends through the second presser foot.