This paper introduces a planetary gear drive designed for space applications, featuring two degrees of freedom (2 DOFs) and functioning as a continuously variable transmission (CVT). The gear drive, with a diameter of 140 mm, a length of 70 mm, and weighing 2 kg, adapts its reduction ratio based on external loads without needing additional components. The design integrates theoretical analysis with experimental validation, demonstrating the ability of gear drive to handle variable loads and rapid torque changes effectively. The results confirm its suitability for space missions, offering a compact and efficient solution for rover wheel drives.