The CEA Cryo-Mechanism (CM) was created to actuate infrared instruments wheels equipped with filters, coronographs or diffractive optics. Based on an optimized integration of basic industrial components, the CM operates with a high positioning repeatability (down to +/-13 arcsec) in infrared astrophysical environment (very low temperatures and under vacuum). In 2004, for the first light of the mid-infrared imager/spectrometer VISIR, 12 CM units were produced. Among them, 10 units are operating once every hour since 13 years with a very high reliability. From 2010, the CM was improved with the goal of space missions. Today, the CM reaches the status of a flight model mechanism already delivered for the EUCLID space mission (launch expected by 2021). It is also derived into a cost optimized actuator so called ICAR that will be manufactured in approximately 20 units for the ELT-METIS ground based instrument. This paper gives an overview of the CM design and its different configurations. The paper will describe more in details the different tests that were carried out on the Euclid-CM, covering performances, vibrations, electromagnetism, thermal cycles, exported torques and life-time tests.