Compact linear to rotary actuator

A linear-to-rotary motion apparatus comprising:

• a first linear actuator comprising:
• a first actuator housing comprising a first piston chamber;
• and
• a first piston shaft disposed at least partially within the first piston chamber and configured to translate within the first piston chamber along a first translation axis, the first piston shaft comprising a first piston shaft end configured to selectively extend and retract linearly along the first translation axis relative to the first actuator housing;
• and
• a rotor apparatus comprising:
• a first rotary joint defining a first rotational axis that is substantially perpendicular to the first translation axis;
• a rotor arm extending radially from the first rotary joint and configured to pivot about the first rotary joint, the rotor arm having a rotor arm end positioned away from the first rotary joint;
• a first torque linkage having a first torque linkage end pivotably connected to the rotor arm end of the rotor arm, and a second torque linkage end opposite the first torque linkage end and pivotably connected to the first piston shaft end of the first piston shaft at a first pivot connection joint, the first pivot connection joint defining a first pivot axis that is substantially perpendicular to the first translation axis of the first piston shaft, wherein the rotor arm at least partially overlaps the piston shaft in a two dimensional viewing plane, the first pivot axis and the first rotational axis being normal to the two dimensional viewing plane;
• and
• a guide structure directly connected to the first pivot connection joint and configured to at least partially guide movement of the first pivot connection joint.