Energy consumption in robotics is a major challenge in modern industry. Robotics is emerging as a promising field for manufacturers seeking to address this issue. This paper presents a novel manipulator design approach in which the total center of mass of moving links remains in a horizontal plane, effectively eliminating input torques caused by gravitational forces. Two manipulator designs based on this principle are discussed, demonstrating the advantages of this method. Compared to traditional gravity compensation techniques that rely on fixing the system’s center of mass, this approach enhances efficiency while minimizing mass increase. The proposed design methodology was validated through simulations conducted using ADAMS software.