Composite forming apparatus, methods, and systems

A composite forming apparatus comprising:

• an end effector;
• a forming feature that is coupled to the end effector, the forming feature sweeps into engagement with a composite ply relative to a forming tool to form the composite ply over one of a forming surface of the forming tool when the forming surface is free from composite material and at least one previously formed ply over the forming surface of the forming tool when the forming surface includes at least one previously formed ply;
• and
• a positioning member that is engageable with the forming feature, wherein engagement between the positioning member and the forming feature facilitates a position between the forming feature and the composite ply to promote uniform application of compaction force over the forming surface of the forming tool.