3d printable robotic hand

3D printable robotic hand for humanoid robot, servo driven tendons, internal cable channels, pulleys at knuckles, reinforced joints, removable finger caps for maintenance, wrist adapter compatible with standard robot forearm tube, mechanical tolerances for 3D printing, split into separate parts (palm, fingers, phalanges, wrist), watertight STL, no supports required where possible, engineering design style