Pick and place end effector configured to form a kink

A method of forming a kink into a composite laminate, the method comprising:

• lifting a composite laminate on a vacuum lift face of a pick and place end effector, the vacuum lift face comprising a first vacuum plate, a center vacuum portion and a second vacuum plate and holding the composite laminate in a flat configuration to a forming configuration with an angle in the vacuum lift face to form the kink in the composite laminate;
• clamping portions of the composite laminate on the vacuum lift face;
• forming a bent composite laminate by moving the vacuum lift face between the flat configuration and a forming configuration comprising an angle between the first vacuum plate and the center vacuum portion and a second angle between the second vacuum plate and the center vacuum portion while the portions of the composite laminate are clamped on the vacuum lift face;
• and
• placing the bent composite laminate on a mandrel comprising a kink.

A pick and place end effector configured to form a kink, wherein the pick and place end effector comprises:

• a vacuum lift face that comprises:
• a stationary center vacuum portion, a first vacuum plate movably connected to the stationary center vacuum portion, and a second vacuum plate movably connected to the stationary center vacuum portion;
• a number of restraints configured to restrain movement of portions of a composite laminate on opposite sides of the center vacuum portion on the vacuum lift face;
• and
• motors configured to move the first vacuum plate and the second vacuum plate relative to the stationary center vacuum portion to place the vacuum lift face in a forming configuration comprising an angle between the first vacuum plate and the center vacuum portion and a second angle between the second vacuum plate and the center vacuum portion.