An apparatus for gripping a cassette-shaped article comprising; a support housing; a linear actuator movable along an x-axis relative to the support; a rack mechanically coupled to the linear actuator; a set of jaws for gripping the cassette-shaped article, each jaw having a proximal end and a distal end, the distal end being adapted for gripping the cassette-shaped article, each jaw including: a sector gear link including a first end with teeth configured to engage the rack, a second end opposite the first end, and a first joint rotationally connecting the sector gear link to the support housing at a first node (Al), an arm link including a first end having a second joint that is rotationally connected to the second end of the sector gear link at a second node, a second end for gripping the cassette shaped article, and a third joint that is rotationaly connected to a connecting link at a third node, the connecting link rotationally connected to the support housing via a fourth joint at a fourth node; a set of registration dowels positioned between the set of jaws and connected to the support housing, wherein movement of the rack causes the sector gear link to rotate around the first node, causing the arm link to rotate relative to the second node and the third node to enable the distal ends of the jaws to move downward and inward to contact the cassette-shaped article and enable the distal ends of the jaws to move upward causing the cassette-shaped article to be pushed against the registration dowels. a support housing; a linear actuator movable along an x-axis relative to the support; a rack mechanically coupled to the linear actuator; a set of jaws for gripping the cassette-shaped article, each jaw having a proximal end and a distal end, the distal end being adapted for gripping the cassette-shaped article, each jaw including: a sector gear link including a first end with teeth configured to engage the rack, a second end opposite the first end, and a first joint rotationally connecting the sector gear link to the support housing at a first node (Al), an arm link including a first end having a second joint that is rotationally connected to the second end of the sector gear link at a second node, a second end for gripping the cassette shaped article, and a third joint that is rotationaly connected to a connecting link at a third node, the connecting link rotationally connected to the support housing via a fourth joint at a fourth node; a set of registration dowels positioned between the set of jaws and connected to the support housing, wherein movement of the rack causes the sector gear link to rotate around the first node, causing the arm link to rotate relative to the second node and the third node to enable the distal ends of the jaws to move downward and inward to contact the cassette-shaped article and enable the distal ends of the jaws to move upward causing the cassette-shaped article to be pushed against the registration dowels. a sector gear link including a first end with teeth configured to engage the rack, a second end opposite the first end, and a first joint rotationally connecting the sector gear link to the support housing at a first node (Al), an arm link including a first end having a second joint that is rotationally connected to the second end of the sector gear link at a second node, a second end for gripping the cassette shaped article, and a third joint that is rotationaly connected to a connecting link at a third node, the connecting link rotationally connected to the support housing via a fourth joint at a fourth node; a set of registration dowels positioned between the set of jaws and connected to the support housing, wherein movement of the rack causes the sector gear link to rotate around the first node, causing the arm link to rotate relative to the second node and the third node to enable the distal ends of the jaws to move downward and inward to contact the cassette-shaped article and enable the distal ends of the jaws to move upward causing the cassette-shaped article to be pushed against the registration dowels.