Universal rotary actuators

A universal rotary actuator, comprising:

• a worm gear having a plurality of threads and having a first rotational axis;
• a motor attached to the worm gear and adapted to selectively rotate the worm gear;
• a worm wheel having a plurality of teeth that meshes with the plurality of threads and having a second rotational axis that is perpendicular to the first rotational axis;
• a first shaft having opposed longitudinal first and second end portions, the first end portion being attached to the worm wheel such that the first shaft rotates about the second rotational axis as the worm wheel rotates;
• a pinion gear attached to the second end portion and having a plurality of teeth, the pinion gear rotating about the second rotational axis;
• a drive gear having a plurality of teeth that meshes with the plurality of teeth of the pinion gear and having a third rotational axis that is parallel to the second rotational axis;
• a second shaft attached to the drive gear such that the second shaft rotates about the third rotational axis as the drive gear rotates;
• and
• a controller disposed between the drive gear and the motor, the controller assembly selectively controlling direction and speed of the motor.