This paper deals with a new kind of mechanical structure for robotic arm based on elements made of thin, inflatable shells. Our approach offers the advantage of increasing the strength to weight ratio of the robot. Moreover, it allows compact packaging and ease of robot deployment, critical in hard to reach spaces, where volume ant weight are of utmost importance. In addition the robot is safer due to less damage in case of collision. All those features are basic required characteristics for robots that serve in the building industry so this unique structure specially fits for construction application, and for some other special applications. At this work we test the feasibility of using that new kind of mechanical structure to an practical implementation, painting, by simulation and by operative experiment.