A　novel　lightweight　variable-stiffness　tuned　particle　damper　(TPD)　is　designed　to　efficiently　control　low-frequency　vibrations　across　a　wide　frequency　range　in　manipulators,　combining　particle　damping　technology　with　dynamic　vibration　absorber　principles.　This　study　aims　to　integrate　both　theoretical　and　experimental　approaches　to　comprehensively　investigate　the　TPD＇s　variable　stiffness,　damping　characteristics,　and　vibration　attenuation　efficacy.　Methodologically,　the　research　entails　designing　and　analyzing　the　TPD＇s　variable　stiffness　mechanism,　establishing　a　coupled　dynamic　model　between　the　TPD　and　the　manipulator,　fabricating　a　prototype　TPD,　and　subsequently　evaluating　its　frequency　variability　range　and　vibration　control　effectiveness.　Additionally,　the　study　explores　the　semi-active　control　capabilities　of　the　TPD.　Results　demonstrate　that　the　designed　TPD,　utilizing　a　single　100　g　particle,　achieves　a　substantial　60　%　reduction　in　manipulator　amplitudes　within　the　5–10　Hz　frequency　range.　Moreover,　the　study　identifies　the　TPD＇s　operational　acceleration　threshold　to　be　0.6　g,　thereby　broadening　its　applicability　across　various　scenarios.　Furthermore,　the　integration　of　semi-active　control　algorithms　augments　the　absorption　frequency　band.　These　findings　highlight　that　the　TPD　offers　multi-parameter　adjustability　in　stiffness,　damping,　and　mass,　with　a　lighter　mass　compared　to　traditional　dynamic　vibration　absorbers.　It　can　effectively　mitigate　vibrations　without　altering　the　original　system＇s　dynamic　characteristics,　presenting　a　promising　solution　for　engineering　applications　necessitating　versatile　and　efficient　vibration　control　mechanisms.　©　2024　Elsevier　Ltd