Sliding pin-yoke mechanism

A method of forming an actuation system for an aerial vehicle comprising:

• pivotably coupling an end of a pin to an output rod of a linear motion actuator;
• constraining an output shaft to rotate about a central axis;
• inserting an opposite end of the pin in a bushing of the output shaft such that linear movement of the output rod pivots the end of the pin, which causes the opposite end of the pin to slide in and out of the bushing;
• and
• arranging the linear motion actuator and the output shaft such that motion of the output rod of the linear motion actuator causes rotation of the output shaft.

A control surface actuation system of an aerial vehicle comprising:

• a chassis;
• a first actuation system movably connected to the chassis, wherein the first actuation system comprises:
• a first pin, one end of the first pin pivotably coupled to a first output rod of a first linear motion actuator;
• and
• a first output shaft constrained to rotate about a first central axis, said first output shaft including a first bushing therein, wherein the opposite end of the first pin extends into the first bushing, wherein linear movement of the first output rod causes the opposite end of the first pin to slide in and out of the first bushing,
• wherein the first linear motion actuator and the first output shaft are arranged such that travel of the opposite end of the first pin in the first bushing causes rotation of the first output shaft about the first central axis;
• a first control surface pivotably attached to the first output shaft pivotably attached to the first output shaft, wherein rotation of the first output shaft causes pivoting of the first control surface, wherein the first bushing defines the pivot point of the first control surface;
• a second actuation system movably connected to the chassis, wherein the second actuation system comprises:
• a second pin, one end of the second pin pivotably coupled to a second output rod of a second linear motion actuator;
• and
• a second output shaft constrained to rotate about a second central axis, said second output shaft including a second bushing therein, wherein the opposite end of the second pin extends into the second bushing, configured wherein linear movement of the second output rod causes the opposite end of the second pin to slide in and out of the second bushing,
• wherein the second linear motion actuator and the second output shaft are arranged such that travel of the opposite end of the second pin in the second bushing causes rotation of the second output shaft about the second central axis;
• and
• a second control surface pivotably attached to the second output shaft pivotably attached to the output shaft, wherein rotation of the second output shaft causes pivoting of the second control surface, wherein the second bushing defines the pivot point of the second control surface.