Abstract: The present disclosure provides self-centering assemblies, cartridges, pump assemblies, grippers, and other systems, methods, and apparatuses for manufacture of a cell therapy. A gripper includes a gripping unit and a gear unit for connecting and disconnecting connectors, tubes, syringes, or other devices that require twisting of a locking element for a successful fluid connection. In some cases, a gripper also includes a draw/injection unit to draw and inject fluid through the connections. A gripper can be operated by a robotic arm or other versatile manufacturing equipment.