Abstract: A cam-driven, rotary-type, pick-and-place assembly apparatus for providing linear translation as well as rotary movement to a support member carrying a gripping mechanism, including a housing, motor-driven input shaft carrying two drive cams, a follower wheel assembly rotatably journaled on said housing and drivably oscillated by one of the drive cams, a main guide shaft and a secondary guide shaft slidably received within the follower wheel, the support member mounted stop the guide shafts, a connector plate joining the lower ends of the guide shafts, a follower wheel lift shaft assembly drivably oscillated by the other of the drive cams, the oscillated lift shaft assembly operatively connected to the connector plate and guide shafts by a toggle linkage assembly, which assembly permits simultaneous rotational and linear oscillation of the guide shafts.