An applicator for delivering a glutinous substance comprises a first body portion, including an end-effector interface, extending from a base portion, a side cover to be removably coupled to the base portion, and a first cavity. A second body portion, having a second cavity intersecting the first cavity, extends from the base portion and is non-parallel to the first body portion. A tip portion, to be removably coupled to the second body portion, comprises a nozzle portion, a third cavity, communicatively coupled with the second cavity, an inner sleeve, having a splined outer surface, and an actuator interface, extending from the second body portion opposite the tip portion. The tip portion and the inner sleeve are interlocked when the inner sleeve is received inside the third cavity of the tip portion, such that the inner sleeve is prevented from rotating with respect to the tip portion.