In general, no. There will be things the person with a disability will be unable to do, one such example is in the lab I worked in, a wheelchair user would not be able to use a couple of the machines we use for safety reasons as they are simply too high. They could take the job but be prevented in using the machines for the safety of the individual as well as co-workers.
A while back, we had a worker who had developed a kind of pneumonia and where it is policy that everyone in the labs wear masks, she was unable to do her job on medical grounds and so was pulled out of the lab for her own safety but allowed to continue working under the same job title but for admin purposes and not scientific ones (basically kept track of all of the equipment in the lab).
However, if your job title states you will be expected to lift heavy machinery and you are unable to for whatever reason, you could be turned down on H&S grounds.