Let me know what you think, or if you have any questions. The .STL files for this gripper are posted on my GitHub page if you would like to make one:
https://github.com/IVProjects/Enginee...

Some additional details:
The servo I used is a MG996R. The steel rods are 5mm, and the bearings are 5x11x4. All the hardware is M3. The timing belt is 6mm GT2.

When I make a video about the SCARA robot this is designed for, I will try to give an update about how well the design has held up.