Hi,
Any information about the exact Samsung printer model?
For use with an iPhone/iPad without additional software, a printer model must be AirPrint-enabled (listed in the above About AirPrint article, or specifically mentioned by the manufacturer as supporting AirPrint).
An AirPrint printer must be connected to the same Wi-Fi network as the iPhone/iPad. However, this does not necessarily mean that the printer itself must be equipped with Wi-Fi. If applicable, an Ethernet connection from the printer to one of the LAN ports of a Wi-Fi router would work as well.
If a printer is not an AirPrint model, there may be some workarounds.
For some non-AirPrint printer models with Wi-Fi, the manufacturer may provide a special iOS/iPadOS app, allowing printing from an iPhone/iPad.
Some USB printers listed in the About AirPrint article are intended for driverless use (direct cable connection) with a macOS computer only.
Other USB-only printers could be used for printing from an iPhone/iPad if a special macOS application such as Printopia would be used. The printer would be connected to a Mac computer, which would act as a print server.
Finally, as you also mentioned, there are dedicated AirPrint print servers. The most well-known models are from Lantronix. An AirPrint print server may be a bit expensive for home use, though.
The TP-Link TL-WPS510U is a wireless print server for USB printers, but this does not mean that it would allow you to use a USB printer with a Mac without a driver, nor with an iPhone/iPad without extra software. That is, it is not an AirPrint print server.