The series was produced by Filmation and ran for two seasons, 1973 and 1974, airing a total of twenty-two half-hour episodes. It featured most of the original cast performing the voices for their characters, except for Pavel Chekov (Walter Koenig), who was omitted because the show's budget could not afford the complete cast. He was replaced by two animated characters who made semi-regular appearances: Lieutenant Arex, whose Edosian species had three arms and three legs; and Lt. M'Ress, a female Caitian. James Doohan, and Majel Barrett, besides performing their characters Montgomery Scott and Christine Chapel, performed the voices of Arex and M'Ress, respectively.

Initially, Filmation was only going to use the voices of Shatner, Leonard Nimoy, DeForest Kelley, James Doohan and Majel Barrett. Doohan and Barrett would also perform the voices of Sulu and Uhura. Leonard Nimoy refused to sign up to lend his voice to the series unless Nichelle Nichols and George Takei were added to the cast - claiming that Sulu and Uhura were of importance as they were proof of the ethnic diversity of the 23rd century and should not be recast.[1]

Koenig was not forgotten and later wrote an episode of the series, becoming the first Star Trek actor to write a Star Trek story. Koenig wrote "The Infinite Vulcan," which had plot elements of the original Star Trek episode "Space Seed" blended into it.

As is usual for animation, the voice actors did not perform together but recorded their parts separately to avoid clashing with other commitments. For instance, William Shatner, who was touring in a play at the time, would record his lines in whatever city he happened to be in and have the tapes shipped to the studio. Doohan and Barrett, besides providing the voices of their Original Series characters and newcomers Arex and M'Ress, performed virtually all of the "guest star" characters in the series, except for a few notable exceptions such as Sarek, Cyrano Jones and Harcourt Fenton Mudd, who were performed by their original actors from The Original Series. Occasional other guest voice actors were also used, such as Ed Bishop (Commander Straker on UFO) who voiced the Megan Prosecutor in "Magicks of Megas-Tu", and Ted Knight (Ted Baxter on The Mary Tyler Moore Show) who voiced Carter Winston in "The Survivor".

While the freedom of animation afforded large alien landscapes and believable non-humanoid aliens, budget constraints were a major concern and the animation quality was generally fair, with very liberal use of stock shots. There were also occasional mistakes, such as characters appearing on screen who were elsewhere, or a character supposed to appear on the bridge main screen appears in front, indicating bad ordering of animation plates. These were typically one-off errors however. Occasionally, though, parts of episodes would be animated at a near-theatrical quality level.

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