A gravity compensation device partially or completely compensates a force
exerted by a basic mass (10) on a balancing device (12) at a first
distance from an axis of rotation (13) by using a force generating
device, such as spring (14), exerting a counterforce on the balancing
device at a second distance from the axis of rotation. The first
distance, the second distance, or both are selectable for providing the
desired gravity compensation. One or more pulleys with an angle-variable
radius may be used. The gravity compensation device does not add
substantial mass to the basic mass, and is simple in design.