The LR Mate 200iB is FANUC’s discontinued predecessor to the LR Mate 200iD already in this gallery — a 5 kg-payload, 700 mm-reach compact 6-axis arm from the generation before the 200iC and 200iD that followed it. It’s long out of production, but still shows up on the used-robot market and in a lot of published research and coursework from when it was current.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom — no mimic joints, no closed kinematic loops, matching FANUC’s own “6-axis” spec sheet for the LR Mate 200i family exactly.
A caveat worth knowing: every link in this URDF declares zero mass. This is a visualization model, not a simulation-ready one — geometry and kinematics are complete and accurate, but there is no inertial data for a physics engine to act on.
About this file — read before importing
FANUC’s own repository doesn’t include this discontinued generation — only the current LR Mate 200iD. This links directly to ros-industrial/fanuc, 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 FANUC itself ships or verifies — treat it as accurate enough to visualize and plan around.
ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what ROS-Industrial publishes, unmodified.