Cheap is too kind a word for the Hanna-Barbera process, and its leading position as the example of TV animation judged as inferior.
That's true. On the other hand, at least Hanna-Barbera used more actors in its shows than Filmation did. I still remember the difference between the end credits of the two studios' shows -- a Filmation show's voice credits would just list a handful of names, while an H-B show's voice credits would be a long list of names filling a whole screen or two, since they'd list the entire season's voice credits to save the trouble of redoing the end titles episode-by-episode. So maybe they spent so much money on actors that they didn't have as much to spare for animation.