Forming apparatus, methods, and systems

A composite forming system comprising:

• a movement mechanism;
• an end effector that is coupled to the movement mechanism;
• a forming feature that is coupled to the end effector;
• and
• a clamping assembly that is movably engageable with a forming tool, wherein:
• the end effector selectively moves the forming feature relative to a forming surface of the forming tool to apply a compaction force to a composite ply;
• the movement mechanism selectively moves the end effector relative to the forming surface of the forming tool to deform a portion of the composite ply over a portion of the forming surface using the forming feature;
• and
• the clamping assembly selectively secures the composite ply relative to the forming tool.

A method for forming a composite part, the method comprising:

• clamping, with a clamping assembly, an end of a formed ply to a forming tool;
• sweeping a forming feature into engagement with a composite ply to form a composite ply against the formed ply;
• retracting the clamping assembly from formed ply;
• sweeping the composite ply to an end against the formed ply to form a second formed ply;
• and
• clamping the end of the second formed ply to the forming tool.