Reducing the equation mod $5$ and $8$ shows that $b\equiv2\pmod{4}$ and $a$ and $c$ are even, because
$$1^a+3^b\equiv0^c\pmod{5},$$
$$5^a+4^b\equiv3^c\pmod{8}.$$
Let $a':=\tfrac{a}{2}$, $b':=\tfrac{b}{2}$ and $c':=\tfrac{c}{2}$ and $d:=\min\{a',b',c'\}$. Then we have a Pythagorean triple
$$\left(21^{a'}\right)^2+\left(28^{b'}\right)^2=\left(35^{c'}\right)^2,$$
with $\gcd\left(21^{a'},28^{b'},35^{c'}\right)=7^d$.
This means there exist coprime integers $m$ and $n$ such that
$$21^{a'}=7^d(m^2-n^2),\qquad
28^{b'}=7^d(2mn),\qquad
35^{c'}=7^d(m^2+n^2),\tag{$\ast$}$$
and without loss of generality $m>n>0$. The latter identity shows that
$$5^{c'}7^{c'-d}\equiv m^2+n^2\not\equiv0\pmod{7},$$
and so $d=c'$. It follows that if $b'=1$, then $1=b'=d=c'$ and hence
$$21^a+28^2=35^2,$$
which shows that $a=b=c=2$. Now suppose toward a contradiction that $b'>1$.
The middle identity in $(\ast)$ shows that either
$$(m,n)=(7^{b'-d},2^{2b'-1})
\qquad\text{ or }\qquad
(m,n)=(2^{2b'-1},7^{b'-d}),$$
and in either case, plugging this into the last identity in $(\ast)$ shows that
$$5^{c'}=2^{4b'-2}+7^{2b'-2d},$$
where we used that $c'=d$ to cancel the factors $7^{c'}$ and $7^d$. Reducing mod $8$ and mod $5$ shows that
\begin{eqnarray*}
5^{c'}&\equiv&4^{2b'-1}+1^{b'-d}&\equiv&1&\pmod{8},\\
0^{c'}&\equiv&4^{2b'-1}+4^{b'-d}&\equiv&(-1)+(-1)^{b'-d}&\pmod{5},
\end{eqnarray*}
which shows that $c'$ is even, say $c'=2c''$, and that $b'\equiv d\pmod{2}$. Then $b'$ is also even, contradicting the fact that, $b\equiv2\pmod{4}$. Hence $a=b=c=2$ is the unique solution.
[Original answer]
Note that $21=3\times7$, $28=4\times 7$ and $35=5\times7$ are all multiples of $7$. Suppose $b>a$. Then
$$5^c7^c=3^a7^a+4^b7^b=(3^a+4^b7^{b-a})7^a,$$
where $7^{b-a}$ is an integer divisible by $7$, and so $3^a+4^b7^{b-a}$ is not divisible by $7$. By unique factorization it follows that $a=c$ and so
$$5^a=3^a+4^b7^{b-a}.\tag{1}$$
Reducing this identity mod $4$ and mod $5$ shows that $a$ and $b$ are even, respectively, because
\begin{eqnarray*}
1^a&\equiv&3^a+0^b3^{b-a}&\equiv&3^a&\pmod{4},\\
0^a&\equiv&3^a+4^b2^{b-a}&\equiv&3^a(1+3^{b})&\pmod{5}.
\end{eqnarray*}
Let $a':=\tfrac{a}{2}$ and $b':=\tfrac{b}{2}$. Then from $(1)$ we find that the primitive Pythagorean triple
$$\left(3^{a'}\right)^2+\left(4^{b'}7^{b'-a'}\right)^2
=\left(5^{a'}\right)^2,$$
which means there exist coprime integers $m$ and $n$ such that
$$3^{a'}=m^2-n^2,\qquad 4^{b'}7^{b'-a'}=2mn,\qquad 5^{a'}=m^2+n^2,\tag{2}$$
and without loss of generality $m>n>0$. The middle identity shows that either
$$(m,n)=(7^{b'-a'},2^{2b'-1})
\qquad\text{ or }\qquad
(m,n)=(2^{2b'-1},7^{b'-a'}),$$
but in the latter case we get $b=2$ because
$$3^{a'}=2^{2b-2}-7^{b-a}\equiv4^{b-1}-1\pmod{8},$$
and $a$ and $b$ are even; but $b>a>0$, a contradiction. Hence $m=7^{b'-a'}$ and $n=2^{2b'-1}$, and plugging these back into $(2)$ shows that
$$3^{a'}=7^{b-a}-2^{2b-2}\qquad\text{ and }\qquad 5^{a'}=7^{b-a}+2^{2b-2},$$
and hence $5^{a'}-3^{a'}=2^{2b-1}$. Reducing mod $8$ shows that $a'$ is even, say $a'=2a''$, and so
$$2^{2b-1}=(5^{a''}-3^{a''})(5^{a''}+3^{a''}).$$
Then $5^{a''}-3^{a''}=2^u$ and $5^{a''}+3^{a''}=2^v$ for integers $v>u>0$ such that $u+v=2b-1$. But then
$$2^u(1+2^{v-u})=2^u+2^v=(5^{a''}-3^{a''})+(5^{a''}+3^{a''})=2\times5^{a''},$$
so $u=1$ and $v=2b-2$. We see that $5^{a''}-3^{a''}=2$ so $a''=1$, so
$2^v=5^{a''}+3^{a''}=8$ and so $v=3$. But then $2b-1=u+v=4$, a contradiction. This shows that no solution with $b>a$ exists.
A similar argument shows that $b<a$ is impossible. This means $a=b$ and the equation becomes
$$5^c7^c=3^a7^a+4^a7^a=(3^a+4^a)7^a.$$
By unique factorization $a\leq c$ and so
$$5^c7^{c-a}=3^a+4^a.$$
Again similar arguments show that $a<c$ is impossible. Then $a=b=c$ and so we are left with
$$3^a+4^a=5^a,$$
which clearly has only the solution $a=2$.