Spruce,
No, the poles just pop-on-and-off.
You could use the poles without the gaffer tape, but you would be at risk of sections jamming together and you'd have to struggle to pull them apart.
So, you have to gaffer tape the male pole, just below where the female pole ends, when they're joined together; to act as a STOP; so the poles can't slide in too deeply together and get jammed.
It's one of those very simple concepts that is difficult to explain.
Is it any clearer now?