The models developed here apply to both robot domains, where extreme thermal or precision conditions require a fundamental understanding of robot thermodynamics and heat transfer mechanisms that deform manipulators. A transient, 3D finite difference model is presented for tracking heat generated by actuators, conducted through the manipulator, radiated to space and absorbed from solar flux. Unlike large space cranes, the closely positioned actuators in small fine arms require modeling of energy exchange between joints, and simulations show that this heat transfer is governed by bearing elements. The consequences of torque histories can be predicted using these models, which link dynamics to future thermal states, and their resulting structural expansions and contractions. Thermal models can be coupled with distributed sensing to anticipate deformations in robots under operation in space conditions, improving precision and reducing the need for repeated calibration.