Driving device including mechanical and electrical components has to be protected by special designed shelter to fit the extreme temperature in space environment. A driving device based on stepping motor and gears box and protected by a warm box was developed and tested under simulated space environment. The temperature of the warm box was measured and controlled by electrical heater and paraffin phrase changing. Mathematical models of heat transfer and paraffin phrase changing were established, and temperature distribution of the warm box was simulated by Fluent. Based on the research, a driving device was developed and a control system for temperature in the box and motor motion was also developed. The device was tested under simulated space environment more than 1000 hours, and it was used in EVA space suit experiment successfully.