If the animation is uniformly jumpy, as in, stuttering, adding frames smoothens it out. In this case it won't fix anything, since the basic movement isn't sturdy enough.
So, as I said, adding frames doesn't fix a broken animation, it just smoothens it out. It's like kids doing bad colour work and using a cotton ball to smear it open in hopes of fixing it...
As I see it, the red arms are pretty solid, but the cyan circle is jiggly. It's the circle that needs fixing