Hi Leon,
related to your second concern, if you want to use a UR you need to provide additional safety standards, such as radar, to delimitate worker zone and cobot zone,
one advice, when you want to add a cobot within production, you need to be sure that all elements mounted on cobot are colaborative (even the manipulated part could be a reason to not get the Safety approval from Piltz per ex)
from my exp, i will deploy kuka not a UR, ur is nor for play...almost same price.
you can go further with Kuka + safety radar. and you eliminate the fances.
regards
Alexandru