I think I might have seen the model on GrabCad as well? I think having a PC and sending values to a microcontroller like an arduino would be the way to go. Then your microcontroller would be driving the steppers/servos. Communication would look like this in Python:

import serial

# configure the serial connection
ser = serial.Serial('COM3', 9600) # change 'COM3' to the appropriate serial port name

# send the message
ser.write(b'Hello, world!\n') # the 'b' before the string converts it to bytes

# close the serial connection
ser.close()