If it's a non-moving part such as the base, then filling it with something suitable would add mass (always good!) and add to the damping of vibration and noise.
If it's a moving part adding mass to fill voids may throw your balance, inertia, and reliability out to an extent, or certainly make it harder for the steppers. But filling voids with a light but material such as expanding foam, or similar, could add quite well to the damping of virbation and noise.
cheers,
Ian


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