Sliding pin-yoke mechanism

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

• pivotably coupling a pin to an output rod of a linear motion actuator;
• inserting the pin in a bushing of a rotatable output shaft such that the pin is configured to slide in and out of the bushing in response to movement of the linear motion actuator;
• 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, wherein the chassis includes a first connection and a second connection;
• a first linear actuation system movably connected to the chassis at the first connection, wherein the first linear actuation system comprises:
• a first pin pivotably coupled to a first output rod of a first linear motion actuator;
• and
• a first rotatable output shaft that includes a first bushing therein, wherein the first pin is configured to slide in and out of the first bushing in response to movement of the first linear motion actuator,
• wherein the first linear motion actuator and the first output shaft are arranged such that travel of the pin in the first bushing causes rotation of the first output shaft;
• a first control surface pivotably attached to the first output shaft pivotably attached to the 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 linear actuation system movably connected to the chassis at the second connection, wherein the second linear actuation system comprises:
• a second pin pivotably coupled to a second output rod of a second linear motion actuator;
• and
• a second rotatable output shaft that includes a second bushing therein, wherein the second pin is configured to slide in and out of the second bushing in response to movement of the second linear motion actuator,
• wherein the second linear motion actuator and the second output shaft are arranged such that travel of the pin in the second bushing causes rotation of the second output shaft;
• 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.