A number of people thought that NASA funding would be available for mechanisms work. Future workshops should have a single theme or objective. Small positioning mechanisms may use ultrasonic motors. These employ a polymer that changes dimension in an electro-static field. This produces wave motion in a ring, which acts like a motion transducer.
Brushes are no good in vacuum.
Current tech. must use pressurized chamber in vacuum. Long duration missions will require new technology. However 2-year mission means equipment must be extremely reliable. Possible mission to Jovian moon Europa may require a submarine. Laying power cable is a difficult job for rover vehicles.