Robotic arms are being used by construction firms and schools of architecture around the world in design/build researches and material studies. Robotic hotwire cutting (RHC) is a commonly used technique in these studies. This technique has limitations on the production of free-form objects. This paper addresses this limitation by proposing an alternative non-linear robotic hotwire cutting (NL-RHC) workflow. The original contribution of this workflow is the usage of a shape memory alloy (SMA) as a cutting wire, that enables the production of curved forms. The workflow was tested on the production of a Gyroid-like modular system to reveal its advantages and limits. Several attempts were made to find the most accurate approximation of the Gyroid. The result suggested that NL-RHC would be an efficient solution for the production of curved surfaces if the SMA is trained and the robot path is calculated correctly

世界各地的建筑公司和建筑学校都在使用机械臂进行设计/建造研究和材料研究。机器人热线切割（RHC）是这些研究中的常用技术。该技术在生产自由形式的对象方面有局限性。本文通过提出一种替代的非线性机器人热线切割（NL-RHC）工作流程来解决这一限制。此工作流程的最初贡献是使用形状记忆合金（SMA）作为切割线，从而可以生产弯曲的形式。在生产类似Gyroid的模块化系统的过程中对工作流进行了测试，以揭示其优势和局限性。为了找到最精确的Gyroid，做了几次尝试。