We've made progress.

I've tested the rt2870.bin file from linux-firmware 1.53 which works
:-). You still have to blacklist rt2870sta because otherwise nothing
ralink-related is loaded. Syslog:

Jun  2 09:41:26 sixpack NetworkManager[1024]: <info> (wlan0): new 802.11 WiFi 
device (driver: 'rt2800usb' ifindex: 3)
Jun  2 09:45:45 sixpack kernel: [   70.043618] usbcore: registered new 
interface driver rt2800usb
Jun  2 09:47:12 sixpack kernel: [   14.136337] Registered led device: 
rt2800usb-phy0::radio
Jun  2 09:47:12 sixpack kernel: [   14.136360] Registered led device: 
rt2800usb-phy0::assoc
Jun  2 09:47:12 sixpack kernel: [   14.136371] Registered led device: 
rt2800usb-phy0::quality
Jun  2 09:47:12 sixpack kernel: [   14.137068] usbcore: registered new 
interface driver rt2800usb

lsmod:

rt2800usb              18235  0 
rt2800lib              45181  1 rt2800usb
crc_ccitt              12667  1 rt2800lib
rt2x00usb              20330  1 rt2800usb
rt2x00lib              49235  3 rt2800usb,rt2800lib,rt2x00usb
mac80211              294370  3 rt2800lib,rt2x00usb,rt2x00lib
cfg80211              178528  2 rt2x00lib,mac80211

Additionally, I tested the rt2870-firmware from the ralink website as
described in Bug 782752. This also works, but not as good as the one
from linux-firmware. NetworkManager is reacting slow on
connecting/disconnecting and the syslog shows the following:

Jun  2 09:33:13 sixpack kernel: [  288.072780] phy0 ->
rt2x00usb_vendor_request: Error - Vendor Request 0x06 failed for offset
0x1328 with error -71.

But the one from linux-firmware is working great, I will test it for some days 
to check its stability, speed etc. 
Thank you for your help + your explanations, I learned a bit more about linux' 
wifi architecture. :thumdsup

** Attachment added: "MD5 checksums of different rt2870.bin versions"
   
https://bugs.launchpad.net/ubuntu/+source/linux-firmware/+bug/762987/+attachment/2151762/+files/md5sums

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https://bugs.launchpad.net/bugs/762987

Title:
  RT2870 WLAN Stick (D-Link DWA 140) not working. firmware does not
  support detected chipset

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