An internal combustion engine having a generally rotary design is described. The engine includes a rotor that alternately rotates about first, second, and third axes of rotation as the rotor circulates within the engine. Each axis of rotation is about perpendicular to the other two axes of rotation. The rotor includes two flanges that alternately compress fluid in combustion chambers as the flanges rotatably enter and sweep through compression lobes. Detonation of compressed, combustible fluid occurs in the combustion chambers, force from the detonation driving the rotor about the axes of rotation. The rotor exerts maximum leverage on a power shaft at the point of detonation, and continues to exert similar leverage on the power shaft as the rotor rotates. The engine typically includes one or more power modules, each of the one or more power modules having three compression lobes and three combustion chambers.