This paper presents the design and analysis of a passive gravity compensation system for translational loads using four-bar mechanisms integrated with embedded springs. The proposed method aims to balance the weight of vertically moving masses statically, requiring significantly less external power, thereby improving energy efficiency and reducing actuator demands. By embedding linear springs at strategic locations within the four-bar configuration, a counteracting force is generated to offset the gravitational force throughout the motion range. An analytical model is developed to derive the static equilibrium conditions and to determine optimal geometric and spring parameters for adequate compensation. Several mechanism configurations are explored, and their performance is evaluated through numerical simulations based on force-displacement profiles. The proposed solution offers a compact and cost-effective approach for passive load balancing in applications such as vertical robotic axes, lifting devices, and assistive systems.
