Looking at your design, you should definitely review Fusion 360's R.U.L.E #1. None of the objects in your design are components and you cannot use the joints in the Assemble menu with bodies. They have to be components! Perhaps it would help if you read through this article first that describes the difference between Components and Bodies .
Anyway in the screencast I describe and show how to do this joint.
The idea is that you create two cylindrical joints between the same components. Then with a motion link you can link the linear motion of one joint to the revolute motion of the other.