describe is a needle assembly replacement device comprising a chassis , a contact plate translatably disposed on the chassis and having an opening adapted to receive a medicament delivery device , and a plurality of gripping wheels rotatably coupled to the chassis and adapted to releasably engage a cover of a needle assembly . the gripping wheels are adapted to rotate in a first rotational direction when the contact plate translates relative to the chassis in a first axial direction and rotate in a second rotational direction when the contact plate translates relative to the chassis in a second axial direction . rotation of the gripping wheels in the first rotational direction engages the needle assembly to the medicament delivery device , and rotation of the gripping wheels in the second rotational direction disengages the needle assembly from the medicament delivery device .