Motors used in rovers, cranes and instruments for use on lunar and Mars missions present unique design requirements. Weight reduction is critical, so motors with high power density and torque density are desirable. Also, the motors need to be designed to work over a wide temperature range: from 40 K to 403K. The proposed axial flux, coreless, brushless, Halbach array motor has been demonstrated to have the highest power density and the highest efficiency in land based applications. In this phase I effort, the motor will be developed for use in lunar and Mars missions in which the operating temperature range is from 40 K to 403K. This would be a significant technical advancement.