旋量理论以其简洁的形式，数学的概括性在许多科学领域尤其是机构学领域得到深入而广泛的应用，但其历史发展仍不为学者们所充分了解。从最初的几何体研究导致新机构的发明，到旋量理论与旋量代数、李群与李代数的提出以及发展直至形成旋量理论体系，详尽阐述机构学与旋量理论的历史渊源以及有限位移旋量的发展，进行历史性的详尽查证与研究。引经据典，回顾旋量理论自18世纪的研究开发，以及与其他数学分支的关联，同时回顾有限位移旋量自20世纪50年代后尤其是20世纪90年代的发展，探讨《机构学与机器人学几何基础与旋量代数》专著中阐述的有限位移旋量与瞬时旋量以及李群、李代数的关联。

Screw theory has become a well developed tool for analysis and synthesis in mechanisms and robotics, though its development and intrinsic relationship with the mechanism development has not yet been well revealed. The relationship is to be presented, in the following through the historical development of classical mechanisms by their mathematician inventors. It reveals that a study of geometry led to development of classical mechanisms and new mechanisms while these mechanisms are conversely related to development of the mathematical foundation in the form of screw theory and screw algebra. This traces back to the 17th and 18th century and to the thriving 19th century when the study of screw theory reached its height. A comprehensive account is then presented of the latter development in the 20th century with the latest progress. The relationship between screw theory and Lie theory is further revealed via the development of finite displacement screws in the 20th century and in their development in the 1990s. This reveals the intrinsic relationship between finite displacement screws and Lie groups and leads to a relationship diagram between two theories as presented in the book “Geometrical Foundation and Screw Algebra of Mechanisms and Robotics”. The revelation leads to the review of use of screw theory for the study of stiffness and compliance of mechanisms and robotics.