Robot arm with four stepper motors

Hi there,

I am building a robot arm and have designed it to have 4 stepper motor drives.
The project will have 17 outputs in total, 4 for each stepper motor and 1 servo motor for the end effector.

I am wondering would my best option be to use an Arduino UNO and an EasyDriver - Stepper Motor Driver (EasyDriver - Stepper Motor Driver - ROB-12779 - SparkFun Electronics) for each of the stepper motors; or would an Arduino Mega be suitable for my project?

Thanks!