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A crimping and pultruding forming process for truss rods using Carbon Fiber (CF)/Polyether–Ether–Ketone (PEEK) prepreg tape as the raw material is proposed to address the problem of continuous manufacturing of space trusses on orbit. The proposed process provides material rods for continuous truss manufacturing. Through numerical simulation and experimental verification, the effects of relevant parameters on the forming process are determined, an efficient method of rod curl pultrusion, in-rail, equal material forming is proposed, and the structural configuration of the rod curl pultrusion forming mold is determined. The equivalent macroscopic mechanical properties of unidirectional CF/PEEK prepreg strips are considered, and the rod-forming process is investigated. Rod samples with different process parameters are prepared, and several tests are conducted on them. The results show that the forming load pull is negatively correlated with the temperature at the same forming speed, and forming speed is positively correlated with the forming load pull at a certain temperature. Temperature and speed affect the surface quality of the rod, the density of the material filling, and the mechanical properties of the rod. The optimal forming process parameters are determined through numerical simulation and experimental verification. The developed molding technology has the advantages of high efficiency, low energy consumption, and high integration. It reduces manufacturing costs and improves manufacturing efficiency, so it can serve as a new and effective solution for the manufacturing of high-performance truss rods in the aerospace field. Full article