The IRB 4600 is one of ABB’s most common industrial arms — a 60 kg payload class robot built for automotive spot welding, material handling, and machine tending, sized between the general-purpose IRB 2600 and heavy-payload robots like the IRB 6640. This configuration is the 2.05 m-reach variant (ABB sells other payload/reach combinations under the same IRB 4600 name; ROS-Industrial’s package only covers this one).
The mechanism
Six revolute joints in series give the arm its six degrees of freedom, all independently actuated — no mimic joints or accessory mechanisms are part of this description.
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 4600. 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.