Disclosed is a data cartridge picking apparatus for use with a data cartridge library generally comprising at least one drive, a plurality of data cartridges capable of being disposed in a magazine and a transport system comprising an elevator capable of moving the picking apparatus within the library. The picking apparatus is capable of grasping and withdrawing, via a pair of grasping members, a data cartridge in a linear motion from, for example, a data cartridge magazine. The grasping members are actuated to open and close via the rotation of a crank and cam system whereby a camming structure associated with the crank engages a cam follower over some portion of rotation of the crank causing the grasping members to open and disengages the cam follower over a different portion of rotation causing the grasping members to close. The crank is rotated by the linear motion of the picker.