Apparatus and method for converting between linear and rotary motion and systems involving the same

An apparatus for converting between linear motion and rotary motion about a first axis, comprising:

• a plate having a plurality of connection points and a channel;
• a wobbler having an end that extends along the first axis and a cylindrical body having a second axis that is offset from the first axis by a first angle;
• wherein the plate is rotatably connected to the cylindrical body and configured to rotate about the second axis;
• a plurality of flexure assemblies connected to the plurality of connection points of the plate, each of the plurality of flexure assemblies comprises:
• a first flexure having a first end, a second end, a length extending in a direction parallel to the first axis, a width extending radially from the first axis, and a thickness;
• and
• a second flexure having a first end, a second end, a length extending in the direction parallel to the first axis, a width extending tangentially from the first axis, and a thickness;
• wherein the first flexure and the second flexure are substantially in parallel;
• wherein the first end of the first flexure is connected to the first end of the second flexure, the second end of the first flexure is connected to the plate, and the second end of the second flexure is configured to move in the direction parallel to the first axis.