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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
Image: Jonas Boungard