Recently, non-metallic materials such as textile reinforced concrete (TRC) have been increasingly used as reinforcement in the construction industry due to their superior property of corrosion resistance compared to conventional steel. By benefiting from strong corrosion-resistance, the lifespan of reinforcement is extended. This can greatly improve the recyclability and sustainability of construction materials. However, fabricating a geometrically sophisticated non-metallic reinforcement structure using conventional manufacturing processes presents a significant challenge. Robot-assisted manufacturing systems have recently been introduced to overcome this obstacle. A comprehensive approach to fabricating non-metallic 3D reinforcement structure, including design, mechanical subsystem such as yarn impregnation and placement module, will be demonstrated in this presentation. This autonomous solution is a robot-assisted manufacturing system, which is developed based on the 3D coreless filament winding technology. Bio-inspired load transfer mechanism is applied at the design phase to achieve the maximum material efficiency. An optimal thread path is generated based on the geometric constraints in the form of instruction code.