Transfer apparatus and holding apparatus

A transfer apparatus, comprising:

• a base;
• a first linear motion member supported by the base and movable in a first direction;
• a second linear motion member supported by the first linear motion member and movable in a second direction crossing the first direction;
• a moving conveyor supported by the second linear motion member and including a belt for conveying an article;
• an extraction arm that extracts the article and places the article on the belt;
• and
• a holding part, provided at an end of the extraction arm, that holds the article, the holding part including an elastic passive joint provided at the end of the extraction arm, and a first end member and a second end member connected to the elastic passive joint, the first end member and the second end member being held by the elastic passive joint to be approximately orthogonal to each other in a state where the first end member and the second end member are out of contact from the article, and to be approximately orthogonal or approximately parallel to each other in a state where the first end member and the second end member are in contact with the article.