These are the grippers / pincers for my (150g) antweight robot, Tik-Tok.
I printed at 50% infill to save weight, but the teeth on the servo gear strip very quickly, so I would recommend 100%.
Supports are only needed for servo_gear.stl
The servo gear requires a cut down servo horn to function - I glued mine inside.
The hole between the grippers and the top piece takes M2 spacers, which are bolted onto the chassis.
I used the SpurGear script in Fusion360 to make the main gear shape at the centre, then extruded at an angle to make a slight bevel, before adding the gripper arms.
I had to make some odd design decisions to make it all fit in the space I had available, and the gears are not perfectly mated (which is likely why they strip so easily), but they do the job.