Definitely learning some things with this. Since the last post I have worked on quite a few different things.
The wrist rotation which I'm still not happy with. I will either have to strengthen the mount holding the motor or might change this to another stepper motor. It is currently being actuated by a motor and gearbox pulled from an R/C car which turns a much larger gear. It has plenty of power but the plastic gear box gives when it turns anything heavy which can cause the gear to slip. The bearings for the larger gear/wrist rotation came from a vcr head and were mounted in plastic sleeves which were cut using a wood spade bit grounded (it was old and rusty anyway) down slightly smaller than the bearings.
The pcb for the stepper driver board. Note to self, always triple check connections in Eagle. After everything was soldered on I hooked up the motors and discovered more than one problem. I forgot to ground the ULN-2003's which was an easy fix with solder. Second was mixed up one connection on the MP4502 (these are great and easy to work with for driving higher power steppers!) That required a bit more innovative fix with some jumpers. But finally got it working and went back changed the problem in Eagle just in case I wanted to make another one. Mounted an arduino UNO and the stepper driver to back of turret.
Wrist up down after the wrist rotation.
Was mounting the Arduino the back of the turret today and had the arm raised in the air. I must have bumped and it slipped, smacking the exposed gear at the end of the wrist against the desk breaking the gear. May still be able to use but not sure.