Embodiments include a clamping apparatus comprising a pair of adjustable anvils configured to apply a clamping pressure on a workpiece secured between the anvils; a center gear comprising a pair of anvil holders respectively coupled to the pair of anvils; an open center configured to receive the workpiece, the anvils being positioned within said open center; and a pair of outer gears arranged on either side of the center gear, the outer gears being configured to rotate about the open center. Rotation of the outer gears causes a linear movement of the anvils along an axis perpendicular to workpiece. Embodiments also includes a clamping system comprising the clamping apparatus, as well as a positioning device for driving the center gear based on a positioning input and a clamping device for driving the outer gears based on a clamping input.