The Institute of Structural Analysis has published its current research results in the field of calculation of screw axes in "Proceedings in Applied Mathematics and Mechanics" (Wiley):

Boungard, J. & Wackerfuß, J., 2021.

Derivation of Analytical, Closed-form Formulas for the Calculations of Instantaneous Screw Axes of Arbitrary Rigid 3D Multi-Body Systems. Proceedings in Applied Mathematics and Mechanics; https://doi.org/10.1002/pamm.202000103