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Wire arc additive manufacturing (WAAM) has received increasing use in 3D printing because of its high deposition rates suitable for components with large and complex geometries. However, the lower forming accuracy of WAAM than other metal additive manufacturing methods has imposed limitations on manufacturing components with high precision. To resolve this issue, we herein implemented the hybrid manufacturing (HM) technique, which integrated WAAM and subtractive manufacturing (via a milling process), to attain high forming accuracy while taking advantage of both WAAM and the milling process. We describe in this paper the design of a robot-based HM platform in which the WAAM and CNC milling are integrated using two robotic arms: one for WAAM and the other for milling immediately following WAAM. The HM was demonstrated with a thin-walled aluminum 5356 component, which was inspected by X-ray micro-computed tomography (μCT) for porosity visualization. The temperature and cutting forces in the component under milling were acquired for analysis. The surface roughness of the aluminum component was measured to assess the surface quality. In addition, tensile specimens were cut from the components using wire electrical discharge machining (WEDM) for mechanical testing. Both machining quality and mechanical properties were found satisfactory; thus the robot-based HM platform was shown to be suitable for manufacturing high-quality aluminum parts.