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 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 , 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 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 , 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 and the second shaft 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 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 , 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 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 , 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 and the second shaft 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 . <EOS>