End of Arm Tool (EOAT) for Layup of Pre-Impregnated Composite Laminates and Robotic Arm Control System and Method

An end of arm tool (EOAT) for use during manufacture of parts using one or more pre-impregnated composite plies is disclosed. In an embodiment, the EOAT includes a mechani­cal gripper arrangement with first and second fingers con­figured to supply a compressive force to grip a pre-impreg­nated composite ply therebetween. At least one of the first and second fingers include a roller member to engage opposite surfaces of the pre-preg ply and supply a compres­sive gripping force. The roller member on either or both the first and second fingers preferably include a torque regulator to selectively adjust an associated roller member's resistance to rotation via supply of a rotational torque resistance.