Dynamical couplings analysis of rigid manipulators

A method for investigation of the dynamical couplings between the manipulator links is presented in this paper. The method is based on quasi velocities introduced originally by Hurtado (2004) and on a diagonalized Poincaré form of the Hamel representation described by Sovinsky et al. (2005). Some observations and a heuristic algorithm are proposed to determine the dynamical couplings between the rigid manipulator links. The presented strategy can be used in the design phase of manipulators and it can be realized via a simulation test. It is validated here on a 3 d.o.f. spatial manipulator.