For a steam Rankine cycle to recover waste heat from the exhaust gas of an Internal combustion engine, a swash plate type of expander as a power conversion unit has been designed. Numerical simulation has been carried out to estimate the performance of the designed expander. With the steam pressure and temperature of 35 bar and $300^{circ}C$ at the expander inlet, respectively, the expander was estimated to produce the shaft power output of about 2.67 kW from the exhaust gas waste heat of 25.2 kW. The expander output increased almost linearly with the amount of exhaust gas waste heat in the range of from 5~40 kW, and the expander and Rankine cycle efficiencies showed gradual decreases in the ranges of 72.2%~69.5% and 10.8%~10.4%, respectively.