A 6degreeoffreedom (6DOF) kinematic model of a pilot’s upper limbs is established based on the anthropometric dimensions of the Chinese male pilot population specified in GJB4856-2003. Pilot manipulation comfort is analyzed using screw theory and the productofexponentials (POE) formula to determine a pilot’s reachable space and comfortable manipulation space, the results of which are used to optimize the joystick layout for an aircraft cockpit. When using this kinematic modeling method based on screw theory and the POE formula, only a base coordinate system and a tool coordinate system need to be established, which makes the motion model simpler and endows it with more definite physical and geometric significance. This method provides a novel basis for the evaluation of pilot steering ergonomics, which can be used to optimize cockpit layouts