This is a remix of the laser cut gripper I've seen here -- it has been redesigned to be 3D printed and use less parts -- only 7!
There is a narrow support column in the middle of the servo hole, that must be cut off, this allows printing without support material.
Use a Hitec Hi-55 or similar.
Picture shows the gears done with my $200 laser cutter.
Be sure to check out my other work at https://www.robots-everywhere.com/