System, method, and apparatus for capsule fabrication

A capsule assembly apparatus comprising:

• a hopper configured to retain a plurality of a solid dosage forms, wherein the hopper comprises:
• an inlet for receiving a member in the plurality of solid dosage forms, and
• an outlet for conveying the member in the plurality of solid dosage forms towards a dispenser;
• the dispenser comprising a plurality of channels configured to receive the member in the plurality of solid dosage forms at an inlet of a respective channel and dispense the member at an outlet of the respective channel;
• a rotary gate disposed interposing between the outlet of the hopper and the inlet of each channel in the plurality of channels, wherein the rotary gate is configured to control conveying of the member in the plurality of solid dosage forms;
• and
• an actuator configured to control a movement of the rotary gate in a first direction.

A gripping apparatus comprising:

• a rotary actuator;
• a rotary linkage comprising
• a first end portion at least partially disposed about a periphery of the rotary actuator, and
• a second end portion extending outwardly from the first end portion;
• a plurality of intermediate linkages coupled to the second end portion of the rotary linkage, each intermediate linkage in the plurality of intermediate linkages comprising
• an input end portion coupled to the second end portion of the rotary linkage,
• an output end portion disposed below the input end portion, and
• a jaw disposed on the output end portion;
• and
• a plurality of compliance linkages, wherein each compliance linkage in the plurality of compliance linkages comprises
• a first end portion coupled to either the output end portion or the jaw of a respective intermediate linkage, and
• a second end portion substantially orthogonal to the respective intermediate linkage.

A sensor apparatus comprising

• a nest unit comprising
• a first opening, wherein the first opening comprises a side wall comprising a plurality of contoured surfaces arranged circumferentially about the side wall, and
• a second opening opposing the first opening, wherein the second opening is configured to accommodate a portion of a sensor;
• and
• a first housing comprising a first opening configured to accommodate the nest unit;
• and
• the sensor is disposed on a base, wherein the sensor comprises a translational degree of freedom.