Abstract: The invention relates to a manipulator (1) comprising a plurality of members (12, 14) connected to each other by joints (A1-A6) that can be adjusted by drives (M1-M6), and a counterweight device (15) associated with one of the joints (A1-A6) and comprising a rod (19) coupled to a first member (12) connected to the joint (A1-A6) on one side and connected to a spring device (26) supported on a seat (25) on the other side, said seat being coupled to a second member (14) connected to the joint (A1-A6) by means of at least one bearing arrangement (18), comprising a first bearing component (17) and a second bearing component (16) connected to the second member (14). The seat (25) is connected to the first bearing component (17) by means of at least one cantilevered arm (23, 24).