1993 Dodge Caravan does not start

When I turn key the van does not start /there is no sound at all. I just replaced the starter 3 weeks ago, so that isn't the problem. Checked the fuses, battery power and connections and all are ok. When I turned the key in the ignition and went underneath to see if the starter was receiving power, it cranked when I touched the connection with a voltmeter and grounded it. Does this mean that the ground is no good? I checked the mounting bolts and they were tight, however when I tried to re-tighten the ground wire to the starter connection, I noticed that the little bolt might be stripped. Could this be the problem? What about the starter relay? The chilton manual that I have describes how to troubleshoot it but it doesn't show where it is. Any help will be much appreciated, thanks.