6 Axis Robotic Arm, 4th major version

I have been working on this robotic arm and remote control for a few years now. I have posted a much older version a few years ago. My goal with this version was to make it as accurate and as fast as I could. It is almost entirely pure Lego with a single 3D printed part. Making the gear trains have minimal slop and the structure be as rigid as possible was a big challenge with Lego. Although this was as small as I could make it and still fit the functionality I wanted, it ended up pretty...