A fluid transfer system includes a transfer carousel capable of rotational and/or translational movement; at least one holding vessel (e.g. syringe) having a plunger, wherein the syringe is connected to the transfer carousel such that the movement of the transfer carousel results in movement of the syringe and wherein the syringe is capable of translational movement relative to the transfer carousel; a drive motor connected to the syringe that is capable of controlling the position of the plunger; and a peripheral module comprising at least one vessel that is capable of containing a fluid, wherein the vessel has an opening that can be mated with the syringe to allow fluid transfer between the vessel and the syringe. Methods for transferring a fluid are also disclosed.