Though the original series had its cult following, the franchise only became a global hit with Star Trek: The Next Generation. Starring Sir Patrick Stewart, along with an ensemble cast of the bridge crew, the show gained traction by its third season and became a worldwide phenomenon, reviving the franchise.
Many celebrities have been fans of the sci-fi show, with some of them even being a part of TNG, like Whoopi Goldberg and LeVar Burton. Similarly, Robin Williams was also a fan and was reportedly enthusiastic about joining the franchise as a guest star. The writers had also written a part for him, but he ultimately could not join.
Robin Williams almost joined Star Trek: The Next Generation

Though Star Trek: The Original Series was canceled after three seasons, William Shatner and Leonard Nimoy became pop culture icons, and even now, their characters, Captain Kirk and Spock, are the faces of the franchise. TOS did many revolutionary things for its time, which prompted many future actors to be fans.
Robin Williams was reportedly a fan even during his Happy Days appearances and when he headlined the spinoff series Mork and Mindy. After expressing his admiration for the show to actress Whoopi Goldberg, another fan who got to play a part in Star Trek: The Next Generation, the writers reportedly came up with a character for him to play.

Williams was reportedly envisioned as the character Berlinghoff Rasmussen, a time-traveller from the future, who comes across the Enterprise to observe them. However, the bridge crew soon become suspicious due to his ‘car salesman-esque’ behaviour and realize that he is actually from the past and hopes to steal the new technology and pass it off as his own.
The Good Will Hunting star would have been perfect for the role and was almost going to play it, but ultimately could not make time for it. According to Slash Film, the actor had scheduling conflicts with Steven Spielberg’s Peter Pan film, Hook, and hence could not make it. Matt Frewer of Honey, I Shrunk the Kids fame ended up with the part.
Robin Williams has other connections to the Star Trek franchise

Though Robin Williams’ style of on-the-face acting was polar opposite to Star Trek: The Next Generation’s operatic style, the writers created a character like Berlinghoff Rasmussen, who fit the energy of the actor. However, destiny seemed to have other plans, and Williams never got to be in the franchise.
Williams’ connection to the Star Trek franchise did not end with the missed appearance, though. Long before any of it was on its way to fruition, Robin Williams made a few references to the original series in his show Mork and Mindy. It has been speculated that his iconic red shirt in the show was a makeshift version of Colonel Green’s costume in TOS.
William Shatner even appeared in Williams’ alien show. The actor reportedly had himself beamed up, a reference to Captain Kirk’s classic ‘Beam me up, Scotty’ dialogue. However, another direct reference was reportedly made by Robin Williams himself (via Star Trek.com). Williams’ Mork says,
Wait a minute. You’ve got to tell me if they kill off Spock or not.
In June of the same year, the original movie Star Trek II: The Wrath of Khan saw Spock die, making the reference all the more interesting. It would have been great to see the comedic legend play a balls-to-the-wall crazy character in Star Trek: The Next Generation. Sadly, it will never happen now.
Star Trek: The Next Generation is available to stream on Paramount+.
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