+1 (585) 924-4450 NSRsales@newscalerobotics.com

NSR-PG-10-20-URe Precision Gripper / Caliper for Universal Robots (UR)

Precision robotic caliper + electric gripper

Small-part handling and measurement combined

The world’s first robotic calipers
for automated small part measurement inspection

Precise finger motion with force control
for gripping and intricate small part handling

Small and lightweight design
enables multiple tools on a single robot arm

Quick connect to UR tool port or New Scale MTM Multi-Tool Mount
no cables along the robot arm, for continuous 360-degree rotation
no external controller

Easy-to-use URCaps application
to build gripper processes and measurement routines in minutes

Included in Q-Span Automated Small-Part Measurement Systems
for automated QC inspection and part sorting

Precision and flexibility

The NSR-PG-10-20-URe is an easy-to-use, plug-and-produce gripper and robotic caliper for collaborative robots from Universal Robots (UR). It is the perfect fit for precision measurement inspection and small part handling, sorting and assembly tasks.

The gripper continuously senses the absolute position of its fingers with 2.5 µm (0.1 inches/1000) resolution on e-Series cobots. You can automate inspection and gauging, make in-process decisions, and log the data for statistical process control.

Use as Part of a Q-Span System

Automate small part measurement

NSR-PG-10-20-URe gripper/calipers are available as part of a Q-Span Automated Small-Part Measurement System. These complete QC solutions let you automatically pick small parts, measure multiple features on each, sort/place the parts based on any measured dimension, and record all measured data to a PC for statistical analysis.

Use as a Robotic Gripper

Fast setup

Installation is fast and easy. Simply mount the gripper to your UR robot tool flange and connect the single cable to the UR tool I/O port. No external wires or separate electronics are needed. This allows for full 360-degree or infinite rotation of the UR robot wrist joint without cable interference.

Install the URCaps software on the teach pendant and you’re ready to work.

Power and control with
just one cable. 
Fast and easy connection to the UR Tool I/O port. No converters needed.

Powerful, intuitive control software

The NEW NSR Devices software is a powerful URCaps application that installs on the UR teach pendant.

Set speed, force, targets and other parameters with a few clicks in the interface. NSR Devices software automatically builds gripper processes based on your settings – no need to manually insert multiple program nodes.

NSR Devices software also supports multiple devices on one robot arm, using one simple teach pendant screen.

Use the NSR Devices application
for the UR teach pendant to build gripper
gripper processes with just a few clicks.


NSR-PG-10-20-URe Gripper/Caliper

for UR e-Series cobots

Maximum performance using the new high-speed RS-485 interface

Faster all-digital communications for highest measurement precision (2.5 µm)
upports multiple grippers on one robot

NSR-PG-10-20-UR Gripper

for UR CB-Series cobots

UR+ Certified for excellent performance with UR CB-Series robots

For small part handling with good measurement precision (10µm)
One gripper
per robot


with factory fingers

MODEL NSR-PG-10-20-URe NSR-PG-10-20-UR
Robot Compatibility UR3e, UR5e, UR10e UR3, UR5, UR10
Resolution (typical) 2.5 μm 0.1 in/1000 10 μm 0.4 in/1000
Repeatability (typical) – for same grip force 5 μm 0.2 in/1000 10 μm 0.4 in/1000
Accuracy, linear (typical) 10 μm 0.4 in/1000 20 μm 0.8 in/1000
Adjustment range of standard fingers1 0-52 mm 0-2.0 in 0-52 mm 0-2.0 in
Travel – gripper opening range 20 mm 0.8 in 20 mm 0.8 in
Speed – programmable) 2-30 mm/s 0.1-1.2 in/s 2-30 mm/s 0.1-1.2 in/s
Grip force – programmable, bi-directional2 3-10 N 0.7- 2.2 lb force 3-10 N 0.7- 2.2 lb force
Grip force resolution 0.5 N 0.1 lb force 0.5 N 0.1 lb force
Back drive force – no power 1-3 N 0.2-0.7 lb force 1-3 N 0.2-0.7 lb force
Recommended work piece mass3 100 grams 0.22 lbs 100 grams 0.22 lbs
Lifetime (minimum) 500,000 cycles 500,000 cycles
Mass – gripper with standard fingers, UR mounting plate and hardware 205 grams 0.45 lb 205 grams 0.45 lb
IP rating 40 40
Agency approvals CE, RoHS CE, RoHS

NOTE 1 – Fingers can be re-positioned by loosening two screws and using mounting pin locations. See below. Custom fingers can be installed for wider adjustment range.

NOTE 2 – Gripping force is bi-directional; parts may be gripped on their inside or outside surfaces using appropriate fingers.

NOTE 3 – Maximum may be higher depending on finger friction and force setting.

This video shows how to use the NSR-PG-10-20 Precision Parallel Gripper with a UR3 cobot from Universal Robots to easily automate repetitive, labor-intensive measurement and quality control tasks.

Interchangeable, teachable fingers

The NSR-PG ships with factory fingers installed so you can get right to work. These handle workpieces up to approximately 60 mm and 100 grams.

The standard fingers opening range is easily adjustable using the standard flange interface with a precision, pin-located finger reference mounting surface. Watch the video.

You can add metrology fingertips, modify the standard fingers, or create custom ones optimized to your parts. Use our CAD models as a reference design or contact us for custom fingers.

Finger position is teachable – just manually move the fingers to the desired position and set them using the teach pendant. This process is familiar to anyone who has used a UR robot in teach mode.

How do I use the NSR-PG precision gripper/caliper with my UR cobot?

If you want to measure small partsuse a Q-Span Workstation

If you want to use it as a gripper only, it’s as easy as 1-2-3:


Attach the gripper to the Universal Robots arm using four screws and one cable.


Load the URCaps software on your Universal Robots teach pendant. The URCaps operates inside the UR robot controller.


Program (or teach) the robot and fingers to perform your task. Teach the NSR-PG gripper the same way you teach the robot.

Learn About Q-Span Systems

See how NSR-PG-10-20 gripper/calipers are part of a complete solution for automated small-part measurement.

Compare UR Grippers

Compare the NSR-PG-10-20 to robot grippers from Dahl, OnRobot, Robotiq, Schunk, Weiss, and Zimmer.

Learn More | Buy Direct

Contact us with your technical questions or buy direct from the factory in New York.