Particle damping (PD) technology, a passive control method, offers simplicity, reliability, cost-effectiveness, and does not require external energy. It is effective in various engineering contexts, particularly for managing low-frequency vibrations (10–30 Hz) in manipulators. The study used Discrete Element Method (DEM) simulation software EDEM to investigate how particle packing density, diameter, and material affect energy dissipation. Experimental validation involved a manipulator setup to assess the PD’s damping performance, enhanced by multiple layers of baffles to improve efficacy. This comprehensive approach-combining simulation, experiment, and optimization-confirmed significant vibration reduction at low frequencies in the manipulator, illustrating PD’s potential for broader engineering applications.