A fluid transfer system 1A includes a multi-jointed robot 20 which is capable of transferring a vial 16 and a syringe 17, and a syringe driving apparatus 30. The syringe driving apparatus 30 includes a cylinder body holder which holds a cylinder body of the syringe 17, an actuator which pulls and pushes a plunger of the syringe 17, and a rotation mechanism configured to make the cylinder body holder and the actuator freely rotatable about an axial line intersecting with a center axial line of the syringe 17.
