System, method, and device for fabricating a capsule are provided. A gripping apparatus includes a rotary actuator and a rotary linkage disposed about a periphery of the rotary actuator. A plurality of intermediate linkages is coupled to the rotary linkage. Each intermediate linkage includes an input end portion coupled to the rotary linkage, an output end portion disposed below the input end portion, and a jaw disposed on the output end portion. The gripping apparatus includes a plurality of compliance linkages. Each compliance linkage includes 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.