Particle　damping　technology　is　a　widely　used　passive　vibration　control　method　known　for　its　simplicity　and　efficiency　in　engineering　applications.　This　study　applies　a　Particle　Damper　(PD)　to　reduce　low-frequency　vibrations　in　a　manipulator.　A　novel　coupled　dynamic　model　of　the　PD　and　manipulator　is　developed,　considering　the　impact　of　low-frequency　vibrations.　To　address　the　challenges　posed　by　the　nonlinear　behavior　of　particles,　Discrete　Element　Method　(DEM)　simulations　using　EDEM　software　are　performed　to　investigate　the　effects　of　key　factors,　such　as　particle　packing　density,　diameter,　and　material　composition,　on　energy　dissipation.　The　simulation　results　are　validated　through　experiments,　with　the　manipulator　serving　as　the　controlled　object　to　assess　the　PD＇s　control　performance.　The　PD　design　is　further　refined　by　incorporating　multi-layer　baffles,　which　enhance　energy　dissipation　and　improve　the　suppression　of　vibrations.　The　results　demonstrate　that　the　optimized　PD　system　effectively　reduces　the　manipulator＇s　low-frequency　vibration　response.　By　integrating　simulations,　experimental　validation,　and　structural　optimization,　this　study　provides　deeper　insights　into　particle　damping　mechanisms　and　offers　innovative　solutions　for　vibration　control　in　manipulators　and　similar　engineering　systems.