Helical rotary actuator

An actuation module comprising;

• (a) A body assembly having a body
• (b) A shaft
• (c) A conversion-transmission assembly operatively associated with said body and said shaft for converting movements between reciprocations and rotations of said shaft, wherein said body includes a left centric bore and a right centric bore in an opposite direction and an eccentric bore parallel to said left centric bore, said conversion-transmission assembly Includes a left piston and a right piston, said left piston Is movably disposed in said body and has a centric section movably engaged with said left centric bore and an eccentric section movably engaged with said eccentric bore, said right piston is movably disposed In said body and has a centric section movably engaged with said right centric bore and an eccentric section movably engaged with said eccentric bore, left helical teeth are provided in said left piston, right helical teeth are provided In said right piston, said shaft is movably positioned in said left piston and said right piston and has left helical teeth movably engaged with said left helical teeth of said left piston and right helical teeth movably engaged with said right helical teeth of said right piston, said body assembly further Including a left spherical cover and a right spherioal cover and a holder, wherein said body comprises a spherical shape and has a left port and a right port respectively connected to a pressurized fluid and a sink, said conversion-transmission assembly includes a left piston and a right piston , a center chamber between said left piston and said right piston is connected to said left port by a hole, a left side chamber between said left cover and said left piston and a right side chamber between said right cover and said right piston are connected to said right port by holes and two grooves, said holder has a bar extended to a shell with a spherical recess to secure said body.