4DoF Robot Arm

Hello everyone,
I'm thilled about finally being able to post this project as it's my first robot.
This right here, is a Robot arm made for my college robotics assignment. It´s specially designed for serving cake (That was the assignment, yes, weirdly specific). But essentially it's a regular robot arm with a gripper designed to pick some cooking tools.
Since I was the only one in the group qith experience in 3d modelling, I was assigned the job of designing the robot. It´s not a pretty design, I know. It has some flaws that I didn´t correct because of time. But I'm still happy about it, and it should really work.

The design is meant for 3d printing. It was design with a 25-50% infill in mind, in PLA so it's both light and food friendly. This would mean that you should print it with a tough pattern.

The only part not meant for 3d printing is the base. This should be a little heavier. I would recommend mecanizing wood for it.

Now, onto the electronics.
This is designed to h