All iPads Is it possible to get emulators on the iPad without jailbreak?

Nope

Twice now an emulator has slipped through the App Store approval process and made its way to the App Store but have since been pulled.

brand said:

Twice now an emulator has slipped through the App Store approval process and made its way to the App Store but have since been pulled.

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This. The only one that I know of at this point which might perhaps still be in the store is Gridlee. It's a game emulator that apparently will accept side loaded ROMs (use something like phone view or ifunbox)

Possibly - but you will need a developers account. If you can get an IPA and codesign it, then you can install it to any device attached to the developers account.

I did this to get Grooveshark before the i5 jailbreak but didn't try it with any other apps.