Ok, so I thought this would already be done, but it's not. I designed it at high school for the parts to be printed with their 3D printers.
Here's some CAD.
Long story short, I only printed the claw, and not the rest. Now I'm at college and we've got better printers here, so potentially I can use them to finish this up. That being said, the prints from high school revealed that the claw may be too small, as the servo for actuating the fingers barely fits inside the housing.