An automated storage and retrieval system for storing sample storage containers at ultra-low temperatures, the system comprising: a freezer body having an ultra-low temperature freezer compartment maintainable at an ultra-low temperature from about -50°C to -90°C under normal operating conditions when biological or chemical samples are being stored in the ultra-low temperature freezer compartment; at least one storage rack having trays for storing storage containers holding biological or chemical samples; a robot located within the ultra-low temperature freezer compartment, the robot having an automatically controlled reach arm for transporting storage sample containers within the ultra-low temperature freezer compartment; an insulated freezer door that is mounted to the freezer body and closed over the door opening during normal operation of the system; an access module on the door for introducing a sample storage container into the ultra-low temperature freezer compartment and retrieving containers from the ultra-low temperature freezer compartment through the door when the door is closed, the access module providing a chamber in which moisture is purged before providing access into the ultra-low temperature freezer compartment; robot drive motors (28A, 28B, 28C); and a transmission (70A, 70CB, 70C, 72A, 72B, 72C, 74) that transmits power from the robot drive motors (28A, 28B, 28C) to the robot; the system being characterized in that the freezer body has a continuous inner wall with no penetration by any mechanical component except for an opening for the door; a frame is set in the ultra-low temperature freezer compartment and the robot is mounted to frame; the robot drive motors (28A, 28B, 28C) are mounted to the door outside of the ultra-low temperature freezer compartment; and the transmission (70A, 70CB, 70C, 72A, 72B, 72C, 74) transmits power from robot drive motors (28A, 28B, 28C) mounted to the door outside of the ultra-low temperature freezer compartment to the robot inside the ultra-low temperature freezer compartment, and the transmission comprises a first set of magnetic couplings (70A, 70B, 70C) mounted to output shafts from the robot drive motors (28A, 28B, 28C) mounted to the door and located outside of the ultra-low temperature freezer compartment, and a second set of complimentary magnetic couplings (72A, 72B, 72C) each mounted to a drive for controlling the motion of the robot inside of the ultra-low temperature freezer compartment, and the complimentary magnetic couplings (72A, 72B, 72C) are located within the ultra-low temperature freezer compartment. a freezer body having an ultra-low temperature freezer compartment maintainable at an ultra-low temperature from about -50°C to -90°C under normal operating conditions when biological or chemical samples are being stored in the ultra-low temperature freezer compartment; at least one storage rack having trays for storing storage containers holding biological or chemical samples; a robot located within the ultra-low temperature freezer compartment, the robot having an automatically controlled reach arm for transporting storage sample containers within the ultra-low temperature freezer compartment; an insulated freezer door that is mounted to the freezer body and closed over the door opening during normal operation of the system; an access module on the door for introducing a sample storage container into the ultra-low temperature freezer compartment and retrieving containers from the ultra-low temperature freezer compartment through the door when the door is closed, the access module providing a chamber in which moisture is purged before providing access into the ultra-low temperature freezer compartment; robot drive motors (28A, 28B, 28C); and a transmission (70A, 70CB, 70C, 72A, 72B, 72C, 74) that transmits power from the robot drive motors (28A, 28B, 28C) to the robot;