[Mgx3d] has done that by designing 3D printable bar clamp jaws with a quick release mechanism that can be used with standard T-slot aluminum extrusion. This allows you to create ad-hoc bar clamps ...

This series of plates grips the pipe when at an angle, keeping the static side of the clamp in place. Straighten the plates, and they release their hold, making quick adjustments a breeze.