Abstract: A cap opening and closing apparatus comprises: a first arm including a catch portion that moves, engages with an edge portion of a cap of a microtube, and opens the cap as the first arm rotates about a first rotation axis in a first direction; and a second arm including a pressing member that presses and closes the cap as the second arm rotates about a second rotation axis in a second direction opposite to the first direction. When opening the cap, the first and second arms are rotated in the first direction while the cap is positioned between the catch portion and the pressure member and an angle formed by a line joining the first rotation axis and the catch portion and a line joining the second rotation axis and the pressing member is kept within a predetermined angle range.

Abstract: A manipulator comprises a first member, a second member that supports the first member such that the first member can rotate about a first rotation axis, a driven portion connected to the first member, which moves on a circumference with respect to the first rotation axis as a center in accordance with a rotation operation of the first member, a flexible member that provides, by a reciprocating operation, a force to drive the driven portion, and a change unit including an arc guide surface, which changes a path of the flexible member in accordance with the rotation operation of the first member. The arc guide surface is arranged to maintain a path length of the flexible member in the reciprocating operation during the rotation operation of the first member.