Since the original post several changes have been made to the arm. Some of these changes include the Nema 23 for the lower rotational axis of the arm. This more powerful stepper motor has 1.3nm or torque compared to 0.3 for the Nema 17 motors used originally. This should ensure the arm has sufficient torque to move the arm and any attached payload. The arm also has breakout board limit switches, that when ran through a calibration cycle will allow the arm to match a virtual model using inverse kinematics. The arm also uses a variety of bearings now. Because the previous iteration used skate bearings, and aluminum rods on all rotational axises, this created some difficulties with assembly. The newer version eliminates this by using 25 - 80mm bearings for its different rotational axes. I plan to use Move-It ROS package to operate the arm and hopefully use it for some basic pick and place, or assembly tasks. Hopefully in the next update I will have footage of the completed arm or at least some of the 3D printed components ready for assembly.