A pharmaceutical storage and retrieval system comprising: a housing comprising a front side and a rear side, the housing including a gantry assembly, wherein the gantry assembly includes a gripper assembly, and a user access assembly; wherein the user access assembly comprises a first port and a second port; and wherein the first port includes a base having a first slot and a second slot, wherein the first slot is configured to receive a first pin attached to a first member and the second slot is configured to receive a second pin attached to a second member, and wherein the first member and second member are biased to respectively a first position at a first end of the first slot and a first end of the second slot, wherein the second member is spaced a predetermined distance from the first member as defined by the location of the pins in their respective slots (238,242), and wherein the first slot and the second slot are oriented on a diagonal and extend outward towards the front side of the housing to a second end of the first slot and a second end of the second slot; as the pins move in their respective slots (238, 242), the first member and the second member also move in a coordinated manner; and wherein the gripper assembly applies a force to the first member and the second member to move the first member and the second member from their first position and in a direction away from the rear side of the housing by inserting a container into the rear side of the first port, and as the gripper assembly continues pushing the container into the first port, the container slides between the first member and the second member, and the pins follow their respective slots (238, 242) to move the first member and the second member from their initial position to gradually increase the predetermined distance until the container fits and is held between the first member and the second member; and a controller operatively connected to the gantry assembly and the user access assembly, the controller including a computer having a computer readable medium configured to store instructions that when executed cause the controller to, read a unique identifier on a prescription order to determine a container needed to fill a prescription on the prescription order, and transmit an instruction to the gantry assembly to retrieve the container and position the container in the user access assembly. a housing comprising a front side and a rear side, the housing including a gantry assembly, wherein the gantry assembly includes a gripper assembly, and a gantry assembly, wherein the gantry assembly includes a gripper assembly, and a user access assembly; wherein the user access assembly comprises a first port and a second port; and wherein the first port includes a base having a first slot and wherein the user access assembly comprises a first port and a second port; and wherein the first port includes a base having a first slot and a second slot, wherein the first slot is configured to receive a first pin attached to a first member and the second slot is configured to receive a second pin attached to a second member, and wherein the first member and second member are biased to respectively a first position at a first end of the first slot and a first end of the second slot, wherein the second member is spaced a predetermined distance from the first member as defined by the location of the pins in their respective slots (238,242), and wherein the first slot and the second slot are oriented on a diagonal and extend outward towards the front side of the housing to a second end of the first slot and a second end of the second slot; as the pins move in their respective slots (238, 242), the first member and the second member also move in a coordinated manner; and wherein the gripper assembly applies a force to the first member and the second member to move the first member and the second member from their first position and in a direction away from the rear side of the housing by inserting a container into the rear side of the first port, and as the gripper assembly continues pushing the container into the first port, the container slides between the first member and the second member, and the pins follow their respective slots (238, 242) to move the first member and the second member from their initial position to gradually increase the predetermined distance until the container fits and is held between the first member and the second member; and a controller operatively connected to the gantry assembly and the user access assembly, the controller including a computer having a computer readable medium configured to store instructions that when executed cause the controller to, read a unique identifier on a prescription order to determine a container needed to fill a prescription on the prescription order, and transmit an instruction to the gantry assembly to retrieve the container and position the container in the user access assembly. read a unique identifier on a prescription order to determine a container needed to fill a prescription on the prescription order, and transmit an instruction to the gantry assembly to retrieve the container and position the container in the user access assembly.