Through　this　decade　of　research,　wire　arc　additive　manufacturing　(WAAM)　has　the　potential　and　feasibility　to　fabricate　large　aerospace　aluminum　alloy　components　that　feature　high　intensity　and　buy-to-fly　ratio　with　appropriate　heat　treatment　and　post　machining.　However,　few　studies　have　been　carried　out　specifically　for　medium　and　larger　grid　structural　panels　using　higher　efficiency　WAAM.　This　paper　presents　an　innovative　Multi-node　trajectory　planning　strategy　combined　Tandem　Gas　Metal　Arc　Welding　(T-GMAW)　process　to　realize　efficiently　fabrication.　The　applied　T-GMAW　process　is　able　to　deposit　a　large　width　bead　more　than　12　mm　once,　the　novel　trajectory　planning　algorithm　and　strategy　can　generate　a　continuous　forming　path　of　Multi-node　and　Multi　trajectory　which　grid　stiffened　panels　contain　a　lot.　The　combination　of　the　two　methods　succeeds　in　realizing　WAAM　of　the　grid　structure　and　significantly　reduce　production　time,　energy　and　material　waster,　while　simultaneously　minimizing　the　number　of　interruptions.　The　procedure　and　theory　of　trajectory　planning　were　described　and　validated　through　conducting　the　experiments　for　various　grid　panels　with　the　widely　used　aluminum　alloy　2219.　As　a　result,　the　arc　arcing　and　extinguishing　points　was　greatly　reduced　with　the　increase　of　grid-scale　than　other　path　planning　method.　Several　aspects　over　traditional　machining　methods　were　analyzed,　such　as　the　main　energy　consumption　was　reduced　from　73.5　kW　to　4　kW,　the　time　consumption　was　reduced　average　33.4%　per　unit　grid,　the　facility　cost　reduces　about　90%,　the　material　removal　volume　reduced　more　than　95%.　Therefore,　this　production　method　would　not　only　improve　the　forming　efficiency　but　also　promote　the　WAAM　commercial　application.　(C)　2019　Elsevier　Ltd.　All　rights　reserved.