Biomedical scaffold for tissue regeneration was fabricated by one of rapid prototyping processes, bioplotting system, with a biodegradable and biocompatible poly(ε-carprolactone)(PCL). Through dynamic mechanical test, it was observed that the PCL scaffold manufactured by the bioplotting process has the superior mechanical properties compared to the conventional scaffold fabricated by a salt-leaching process, and the plotted scaffold could be employed as a potential scaffold to regenerating hard and soft tissue. The plotted scaffold was consisted of porous structures, which were interconnected with each pore to help cells be easily adhered and proliferated in the wall of pore tunnels, and metabolic nutrients can be transported within the matrix. By using the plotting system, we could adjust the pore size, porosity, strand pitch, and, strand diameter of PCL scaffolds, which were important parameters to control mechanical properties of the scaffolds, and consequently we could determine that the mechanically controlled scaffolds could be used as a matching scaffold for any required mechanical properties of the target organ. The fabricated 3D PCL scaffold showed enough possibility as a 3D biomedical scaffold, which was cellcultured with chondrocytes.