Gravity compensation apparstus using magnetic

The present invention relates to a gravity compensation device using a permanent magnet, specifically, by using the magnetic force of the permanent magnet compensates for the external load torque relates to a gravity compensation device for enabling a rotary movement with a small force, rotatable to each of a permanent magnet on the outer ring portion and the inner ring part, as the outer ring portion and the inner ring portion rotating with the attraction and repulsion forces that occur while changes the distance between the permanent magnet to provide a gravity compensation device adapted to compensate for the external load torque and for this purpose, since the load due to gravity which is increased in proportion to the load of the rotation angle and the weights of the links can be compensated by the magnetic force of the permanent magnet, it is applied to a manipulator having a joint structure can reduce the load that is weighted to the actuator, Further, the features to provide the effect to lower the specifications of the actuator.