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Pedipalps – chelate ‘pincers’ as the second pair of prosomal appendages – are a striking feature of scorpions and are employed in varied biological functions. Despite the distinctive morphology and ecological importance of these appendages, their anatomy remains underexplored. To rectify this, we examined the pedipalps of the Australian black rock scorpion, Urodacus manicatus, using a multifaceted approach consisting of microcomputed tomography, scanning electron microscopy, energy dispersive X-ray spectroscopy, and live pinch force measurements. In doing so, we document the following aspects of the pedipalps: (1) the musculature in three dimensions; (2) the cuticular microstructure, focusing on the chelae (tibial and tarsal podomeres); (3) the elemental construction of the chelae teeth; and (4) the chelae pinch force. We recognise 25 muscle groups in U. manicatus pedipalps, substantially more than …