In this study, a promising design for a compact, ultra-linear Compliant Torsion Reinforced Sarrus mechanism (CORS), capable of achieving ultra-linear motion is presented. The CORS prototype, made entirely of aluminum, is produced monolithically using electric discharge machining (EDM). The design incorporates four torsion-reinforced folded leaf springs, effectively reducing parasitic motion and enhancing support stiffness. To meet the specified requirements, a design optimization process is undertaken, carefully considering constraints to attain an optimal CORS configuration. Integration of the CORS with a voice coil actuator for driving force and confocal chromatic sensors for detecting parasitic motion is carried out. Experimental results demonstrate and validate the performance of the CORS.