AbstractThis article presents the analysis of gravity compensation of a two‐DOF serial manipulator operating in three‐dimensional space by means of linear spring suspension. The physical configuration of the serial manipulator is assumed general. The analysis begins with gravity compensation of a one‐DOF manipulator in order to form the basis which is then extended to a two‐DOF manipulator. The approach taken in the analysis is that of conservation of potential energy. The goal is to seek the location and the stiffness of springs that provide complete compensation of gravity in the manipulator system. It has been found that complete compensation of gravity in a two‐DOF serial manipulator system is possible. Unlike many previous works on spring suspension of a rigid body, which assume that one end of the suspending spring is attached to ground, it is proven in this study that, for complete compensation in a two‐DOF manipulator, the spring that suspends the distal link cannot be connected to ground. Instead, it must be in certain motion relative to the proximal link. The discussion on how to provide such a motion for the spring is given. It is also explained how the problem of gravity compensation of a robot manipulator can be shifted to that of changing gravity environment within a manipulator system. The concept can be applied to simulation and testing of robot manipulators that will be sent to operate in a different gravity environment, such as space. © 2002 Wiley Periodicals, Inc.