A tape delivery end-effector apparatus is, in an exemplary embodiment, a multiple-channel system for applying materials in tape form to a tooling mandrel. The end-effector apparatus is mounted on a multi-axis fiber placement machine and uses the machine's computer controlled guidance system. A preset constant tension is independently applied to each tape unspooled from spool holders by a separate servo motor, servo amplifier and feedback transducer for each spool holder. The transducer continuously measures the tape spool diameter. Two sets of rollers guide the tapes to the mandrel.