Abstract: A dual cartridge engaging assembly comprising a first cartridge engaging device for engaging a first cartridge and displacing it along a first longitudinal cartridge displacement path. The assembly also comprises a second cartridge engaging device for engaging a second cartridge and displacing it along a second longitudinal cartridge displacement path which is parallel to the first longitudinal cartridge displacement path. The assembly also comprises a unitary reversible drive for providing mechanical energy to produce the longitudinal displacement of the first and second cartridge engaging devices and to produce flipping displacement of the first and second cartridge engaging devices about a central longitudinal axis parallel to the first and second longitudinal cartridge displacement paths. The assembly also comprises a passively switchable linkage for transferring mechanical energy from the unitary reversible drive to the first and second cartridge engaging devices.

Abstract: The picker to cartridge slot referencing system may comprise a cartridge storage rack having a plurality of cartridge storage locations aligned along a cartridge storage axis. Each of the plurality of cartridge storage locations is adapted to receive a cartridge having an access end such that the access ends of cartridges, when positioned in the plurality of cartridge storage locations, are aligned along a cartridge access plane. An elongate lateral guide rail is mounted in parallel, spaced-apart relation to the cartridge storage axis and is positioned at about the cartridge access plane. A cartridge engaging assembly adapted to releasably engage the cartridges is slidably mounted to the elongate lateral guide rail, which guides the cartridge engaging assembly along a displacement path that is substantially parallel to the cartridge storage axis. An actuator connected to the cartridge engaging assembly positions the cartridge engaging assembly at predetermined points along the cartridge location axis.