  3D printing has enabled various applications using different forms of
materials, such as filaments, sheets, and inks. Typically, during 3D printing,
feedstocks are transformed into discrete building blocks and placed or
deposited in a designated location similar to the manipulation and assembly of
discrete objects. However, 3D printing of continuous and flexible tape (with
the geometry between filaments and sheets) without breaking or transformation
remains underexplored and challenging. Here, we report the design and
implementation of a customized end-effector, i.e., tape print module (TPM), to
realize robot tape manipulation for 3D printing by leveraging the tension
formed on the tape between two endpoints. We showcase the feasibility of
manufacturing representative 2D and 3D structures while utilizing conductive
copper tape for various electronic applications, such as circuits and sensors.
We believe this manipulation strategy could unlock the potential of other tape
materials for manufacturing, including packaging tape and carbon fiber prepreg
tape, and inspire new mechanisms for robot manipulation, 3D printing, and
packaging.
