The IRB 2400 is one of ABB’s best-selling industrial arms ever, a mid-size six-axis robot built for material handling, machine tending, and process applications. This configuration is the 12 kg-payload, 1.55 m-reach variant (ABB sells other payload/reach combinations under the same IRB 2400 name; ROS-Industrial’s package only covers this one).
The mechanism
Six revolute joints in series give the arm its six degrees of freedom. The real robot’s
lower arm also carries a parallelogram four-bar linkage — a second bar that keeps the
forearm mount level as the shoulder lifts — which URDF can’t represent as a true closed
loop, so this description encodes it as two extra joints (joint_lever_a/joint_lever_b)
each <mimic>-constrained to follow joint_3’s motion rather than driven by their own
motor. The robot’s real actuated DOF is still six.
A caveat worth knowing: this package’s <link> elements carry no <inertial> blocks
at all — every link is effectively zero mass. This is a visualization model, not a
simulation-ready one; geometry and kinematics are complete, but there’s no inertial data
for a physics engine to act on.
About these files — read before importing
ABB does not publish a URDF for the IRB 2400. This links directly to ros-industrial/abb, the ROS-Industrial community project that maintains description and driver packages for industrial robots ROS needs to talk to. It’s a careful third-party engineering model, not a file ABB itself ships or verifies — treat it as accurate enough to visualize and plan around, and check ABB’s own data sheets before relying on it for anything load-bearing.
ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what ROS-Industrial publishes, unmodified.