I believe what you're asking is whether or not you need a pc/mac or can you just use your Xoom to just set up the printer & the answer is yes, you will need to use a pc/mac. There are drivers that will need to be installed first, on your computer that will enable the printer sync up with your wifi router. From there, you can disconnect the printer from your computer- it's no longer needed.
I suggest borrowing a friend's laptop temporarily so that you can do this, then uninstall the software from his laptop after you're done & give it back. So long as you get the printer & router communicating, you should be good to go.
Next, you'll want to download an app onto your Xoom to enable you to print wirelessly to your new printer. I suggest Cloud Print
. I've been using it and it works very well. Simple to use & quick.