This is a rotary-actuated gripper that folds up into a dodecahedron.
Print off five each of:
and one of everything else. The gear goes onto a micro servo which fits into the base. Turning the small gear 180 degrees will bring the gripper from fully open to fully closed.
Everything gets assembled with M3 screws of various lengths.
I have not yet tried printing any of this so I can't guarantee it will work. If you want to give it a go, let me know how it works!