I don't know what you would consider a cheap rack; Happy Trail has racks on sale now for a V-Strom for $245.00. Any decent set of pannier racks are going to be in that same ballpark (and probably more). I'd be really leery of a rack that was substantially cheaper, because I'd be wondering just how well it was constructed. Having a rack break during a trip is a sure fire fun-killer. I've used HT racks on my last two bikes, and found them to be very robust. You can check eBay for used ones; a lot of guys who sell their ADV bikes sell off their accessories first (I did).
Suzuki DL650 Luggage; Suzuki DL1000 Racks, V-Strom 650 2012
They also make a puck system for attaching luggage to the racks. It's designed for aluminum panniers, but I'm sure it would work on any flat sided luggage. Caribou makes an attachment system specifically for Pelican cases, but it's in the $200.00 range.
HT makes what they call an SL rack, which is mainly designed as a standoff rack to keep soft luggage from getting tangled up in the rear wheel. They run about $200.00. It's not that hard to make a soft luggage standoff from a piece of strap steel from the hardware store, but if you don't have some mechanical skill, that won't be a good solution for you.
Happy Trails SL Side Rack Suzuki DL650 V-Strom
You're going to be fighting an uphill battle looking for a luggage/rack system if you're trying to combine "cheap" with "no do it yourself fabrication skills". Even mine, with several homemade components, still probably cost me around $350.00 (the cases were a little cheaper back when I set mine up). Even if you just bolt the MCM cases directly to the racks without a quick release, you're still in at least the $350.00 range with current prices.
Some motorcycle accessories can be done cheaper, but very little involving a bike can be done "cheap". If you don't feel your mechanical skills are up to the task of fitting racks to a bike, you may be at a loss in trying to find a really cheap workaround solution for a luggage system.