This paper presents the design, manufacture and characterization of a novel 3D passive UHF-RFID tag for embedded applications. The prototype is fabricated using additive manufacturing techniques: 3D printing and copper electroplating. The design, manufacturing process and measurement set-up are presented and discussed in detail. We propose a biconical antenna design with spiral strips embedded in the cones to provide compactness without breaking the symmetry of the component and to improve bandwidth. The antenna is matched to a commercial UHF-RFID integrated circuit. We incorporate a packaging design that consists of a dielectric coating, to provide proper operation in different media or surrounding environments with changing electromagnetic properties. The good agreement between experimental results and Finite Element Method simulations allows us to validate the whole process. Finally, a compact capsule-type RFID tag is proposed and its performance in different media is reported.
