I made this in response to a question on Reddit for helping hands & it seemed like a fun thing to try. It might even be useful. The idea is to thread 1.4mm Nylon rope through each piece before connecting the parts. A loop goes around the base and comes out a hole on the gripper end. Screw the base in completely before tying the rope around the gripper end. The idea is that the rope tightens the pieces as the base is unscrewed. I placed glue on the rope at the base & the gripper end to prevent the rope from slipping.

Note: if the parts require to much force to connect, change “outerConnD” to a smaller value ie 0.6. On the other hand if you want it tighter, try 1 or make "space" smaller.