This paper presents a concept for gravity compensation in orientation motion using a permanent magnet system. Unlike conventional magnet-based designs that are restricted to two-dimensional planes, this approach utilizes ring and cylindrical magnets to achieve three-dimensional rotational gravity compensation. By employing a magnetic force calculation method, we first studied the effect of four key design parameters on the variation of magnetic torque during motion. Accordingly, a design approach was developed to finding the optimal values of the four parameters to counteract the load torque. A design example is provided, which shows the proposed system can counterbalance at most 82.24% of the gravitational torque. The effectiveness of the design is further confirmed through finite element simulations. This study highlights the potential of the proposed concept for gravity compensation for orientation devices or other applications involving spherical motion.