Additive and Subtractive Hybrid Manufacturing （ASHM） demonstrates significant advantages in fabricating complex aerospace components. However， its coupled process characteristics substantially increase the complexity of process planning. Furthermore， insufficient surface smoothness of the model can lead to rapid acceleration and deceleration during CNC machining， adversely impacting surface quality. To address these challenges， this study proposes a kinematic optimization and collision-free rapid process planning method for ASHM. First， under shape error tolerance constraints， a mathematical optimization model was established using spline control points as variables， with jerk suppression as the optimization objective. Surface smoothing pre-processing tailored for machining was achieved by optimizing the cross-sectional curves and applying a skinning operation. Next， the smoothed part was segmented into sub-entities based on geometric and topological features. Utilizing volumetric tetrahedral meshing， a geodesic distance field was constructed for each sub-entity， enabling parametric layering and providing essential input for ASHM process planning. Finally， fully considering the geometric changes in the part before and after each ASHM step， evaluation models for machinability and printability with rapid assessment algorithms were established. These algorithms evaluate collision and interference during both additive and subtractive manufacturing phases. Using this evaluation as constraints， an ASHM process planning model based on ‘up-to-down’ strategy was proposed. Both simulations and machining experiments were conducted using a blade model. By comparing with traditional uniform thickness process planning methods， the effectiveness of the method proposed in this paper has been verified， providing theoretical basis and technical support for multi-axis additive-subtractive composite manufacturing of complex structural parts.