Instagrasp is an entierly 3D printed gripper that can be made on a hobby grade printer. It is based on the Yale OpenHand T42, but is significantly easier and cheaper to assemble. TPU parts replace molded finger parts and threads (tendons). The whole hand can be assembled in 10minutes, using only a screwdriver and hammer (see the below video). 

CAD files and assembly instructions are available on Thingiverse. The only additional parts you need are two low-cost Dynamixel actuators and the screws that come with those actuators. 

This work has been accepted to IROS 2023, which to be held in October 2023. You can already view the paper on arxiv.