A fiber placement system including positioner and a fiber delivery apparatus having a creel assembly and a fiber placement head is provided. The positioner moves the entire fiber delivery apparatus including the creel assembly and the fiber placement head via at least three linear degrees of freedom. The fiber delivery apparatus includes an articulating wrist for moving the fiber placement head relative to the creel assembly. The fiber placement apparatus is substantially free of linear degrees of freedom within the fiber tow paths between the spools and the fiber placement head. One or more rotational degrees of freedom may be provided along the tow path. In one embodiment, the interface between the fiber delivery apparatus and the positioner is laterally offset such that a portion of the creel axially overlaps with vertical ram of the positioner.
