The KR 3 R540 is KUKA’s smallest six-axis industrial robot — part of the Agilus family, 3 kg payload, 541 mm reach, small and light enough to mount directly to a benchtop rather than a factory floor. It fills the same compact-assembly niche as ABB’s IRB 120: full six-axis industrial kinematics in a package that fits on a desk.
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.
About these files — read before importing
KUKA does not publish a URDF for the KR 3 R540. This links directly to kuka_experimental, 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 KUKA itself ships or verifies — treat it as accurate enough to visualize and plan around, and check KUKA’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.