Not really - all the add-ons that add menu items do it for a specific reason, there's no generalised one for handling the menu
See https://developer.atlassian.com/display/JIRADEV/Plugin+Tutorial+-+Adding+your+own+Menu+Items+to+JIRA
Also, in v6 (and 5.2 if you're willing to risk "prototype code"), you can enable the shared menu bar and configre that a bit.
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