Robotic apparatus for ceramic matrix composites

A method for laying a ply of a composite material, the method comprising:

• securing a first end of the ply with an end effector of a first robotic arm, the end effector movable in at least two translational dimensions and at least two rotational dimensions, the end effector comprising at least one arcuate track;
• securing a second end of the ply with a second robotic arm;
• translating and rotating the first end of the ply with the end effector to a specified position in the at least two translational dimensions and the at least two rotational dimensions;
• and
• moving the ply with the first robotic arm and the second robotic arm along a predetermined path onto a layup destination.

An apparatus for controlling a ply of a composite material, the apparatus comprising:

• a first robotic arm configured to control a position of a first location of the ply in multiple degrees of freedom, the multiple degrees of freedom including one or more translational degrees of freedom and one or more rotational degrees of freedom;
• and
• a second robotic arm configured to control a position of a second location of the ply in the multiple degrees of freedom, the first robotic arm and the second robotic arm configured to place the ply at a layup destination;
• wherein the first robotic arm further comprises an end effector, the end effector comprising a translator configured to control the position of the first location of the ply in the one or more translational degrees of freedom and a rotator configured to control the position of the first location of the ply in the one or more rotational degrees of freedom, the rotator comprising at least one acuate track.