Developments in digital design technology currently applied in the architectural and engineering fields enable the extension of design processes from the conceptual phase to detailed design stage and fabrication. Non-conventional structures with complex architectural forms are often realized through technology transfer and material advancements and characterized with enhanced geometrical and mechanical features. In this framework, architectural form, structure and material comprise an indispensable, homogenized unity in the development of the prototype. Along these lines, the current paper refers to the form-finding and automated fabrication process of a canopy structure of steel members with glass-fiber reinforced polymer (GFRP) panels of double curvature. The canopy structure serves as roof element for an electricity changing station and is located in a public parking area. The preliminary design of the structure succeeded in parametric associative design environment. The adopted final shape derived from a form-finding process of the respective adaptive system of cables actuated bending-active steel members stabilized by the prefabricated GFRP panels. Following fabrication of the steel members, the member structure was assembled and erected indoors and 3D-scannned for redefinition of the exact geometries of the panels. The latter were then 3D-printed in series by an industrial robot (6-axis KUKA KR2700). Following erection of the member structure in place, the GFRP panels were assembled. The digital design and automated fabrication process serves as case example of a nonlinear interdisciplinary approach followed in achieving a non-conventional lightweight structure with double curvature that was derived from a form-finding simulation process of the respective adaptive system.