Its kinda hard to judge by the design on how large the machine is going to be but the only thing I might do is double up the x axis. You might see some twisting when you have a load on it. It might also help out with the sagging issue. And like patrick suggested I would use larger size pipe for atleast the x axis seeing it is supporting the whole gantry. You can pick up galvanized wire fence post for pretty cheap and the internet is full of accessories for them. Here is a great example. Take a look at #70 and #72 for possible motor mounts. Four #20 would eliminate 8 t sections from your design. http://www.simplifiedbuilding.com/index.php?cPath=1
One other thing to consider is maybe adding some 45 degree braces to the legs to help with the shaking.
I will say I like the concept and look foward to the rest of the build.