A linear actuator system comprising: an actuator chassis having a main drive axis; a first plurality of sheaves (310, 311; 1801) coupled respectively to a first shaft (304, 305) coupled to the actuator chassis, the first plurality of sheaves (310, 311; 1801) comprising sheaves having an axis of rotation that is coincident with the first shaft (304, 305), the sheaves in the first plurality of sheaves (310, 311; 1801) being spaced apart from one another by non-constant spacing, the sheaves in the first plurality of sheaves (310, 311; 1801) having different sheave centerline diameters with respect to one another; a second plurality of sheaves (308, 309; 1802) coupled respectively to a second shaft (302, 303) configured to translate along the main drive axis, the second plurality of sheaves (308, 309; 1802) comprising sheaves having an axis of rotation that is coincident with the second shaft (302, 303), characterized in that the sheaves in the second plurality of sheaves (308, 309; 1802) are spaced apart from one another by non-constant spacing, the sheaves in the second plurality of sheaves (308, 309; 1802) having different sheave centerline diameters with respect to one another; a flat belt extends from a first termination point, to and about the first plurality of sheaves (310, 311; 1801), to and about the second plurality of sheaves (308, 309; 1802), and to a second termination point, and the first shaft (304, 305) and the second shaft (302, 303) are positioned along the main drive axis and are offset with respect to one another by a static rotation angle about the main drive axis, and wherein points at respective ends of line segments (711a-c, 712a-c) extending along a geometric centerline of each sheave in the first plurality of sheaves (310, 311; 1801) and the second plurality of sheaves (308, 309; 1802) lie along a common circular profile orthogonal to the main drive axis. an actuator chassis having a main drive axis; a first plurality of sheaves (310, 311; 1801) coupled respectively to a first shaft (304, 305) coupled to the actuator chassis, the first plurality of sheaves (310, 311; 1801) comprising sheaves having an axis of rotation that is coincident with the first shaft (304, 305), the sheaves in the first plurality of sheaves (310, 311; 1801) being spaced apart from one another by non-constant spacing, the sheaves in the first plurality of sheaves (310, 311; 1801) having different sheave centerline diameters with respect to one another; a second plurality of sheaves (308, 309; 1802) coupled respectively to a second shaft (302, 303) configured to translate along the main drive axis, the second plurality of sheaves (308, 309; 1802) comprising sheaves having an axis of rotation that is coincident with the second shaft (302, 303), characterized in that the sheaves in the second plurality of sheaves (308, 309; 1802) are spaced apart from one another by non-constant spacing, the sheaves in the second plurality of sheaves (308, 309; 1802) having different sheave centerline diameters with respect to one another; a flat belt extends from a first termination point, to and about the first plurality of sheaves (310, 311; 1801), to and about the second plurality of sheaves (308, 309; 1802), and to a second termination point, and the first shaft (304, 305) and the second shaft (302, 303) are positioned along the main drive axis and are offset with respect to one another by a static rotation angle about the main drive axis, and wherein points at respective ends of line segments (711a-c, 712a-c) extending along a geometric centerline of each sheave in the first plurality of sheaves (310, 311; 1801) and the second plurality of sheaves (308, 309; 1802) lie along a common circular profile orthogonal to the main drive axis.