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.

翻译：三维打印已通过不同形态的材料，如丝材、片材和墨水，实现了多种应用。通常，在三维打印过程中，原料会被转化为离散的构筑单元，并放置在指定位置，这与离散物体的操控和组装类似。然而，对于连续且柔性的胶带（其几何形态介于丝材和片材之间）进行无断裂或形变的3D打印，目前仍未被充分研究且具有挑战性。本文报告了一种定制化末端执行器（即胶带打印模块，TPM）的设计与实现，该模块通过利用胶带在两端点间形成的张力，实现了面向3D打印的机器人胶带操控。我们展示了利用导电铜胶带制造代表性二维和三维结构的可行性，并将其应用于电路、传感器等多种电子领域。我们认为，这种操控策略有望释放其他胶带材料（如包装胶带和碳纤维预浸料胶带）的制造潜力，并为机器人操控、3D打印和包装领域的新型机制设计提供启发。