The biggest lesson learned from this prototype is that the weight of the modules is far greater than the strength of the stepper motors. Having researched different types of motors, the Nema 23 stepper motor seemed most appropriate for the scale of the project. However, once built it was clear that the motors were nowhere near strong enough. Having considered high-power motors, the complexity of those systems seemed to outweigh the benefits. For future iterations, the better solution seems to be to counterweight the modules. This would allow for a lighter load on the stepper motors.