Raptor Hacking - Ultimaker Grab-Tor Presentation.pdf2. To “Animalize” a Grab-Tor, the steps will be the same as creating a regular “finger” Grab-Tor with the exception of the

Raptor HackingTurning 3D Printed Prosthetic into a Grabber

Raptor or “Grab-Tor”

Raptor Hacking - Background InfoWhat is a “Grab-Tor” and how do you Hack a Raptor?

The “Raptor” hand, and its later incarnation, the “Raptor Reloaded” were among the first 3D printable upper limb assistive devices created and remixed between 2014 and 2015 by designers associated with the e-NABLE movement, including Andreas Bastian, Frankie Flood, Peter Binkley, Jeremy Simon, and Ivan Owen

In 2016, then Enable Community Foundation Education Coordinator, Rich Lehrer ([email protected]), led a STEM project at Brookwood School in which students “hacked” or “remixed” the Raptor and Raptor Reloaded, using Tinkercad to select existing components of the hands and combining them with original designs to produce creative “Grabbing Raptors” or “Grab-Tors”.

Raptor Hack - Background InfoWhat is the purpose of these Grab-Tors?

As Rich developed 3D prosthetic and assistive device curriculum for schools looking to incorporate this work into their schools, he realized that there were few opportunities for students to do much designing in this work, given the complexity of the already designed devices. The Grab-Tor remedies this as minimal design skills are needed to create a functional grabber out of the remixed components of a Raptor hand.

Additionally, creating a Grab-Tor provides an engaging, accessible, and creative introduction to the world of 3D printed prosthetics, allowing students to understand the principles behind the devices while having a little fun in the process. The slides that follow explain how to create Grab-Tor files and build and customize Grab-Tors. Enjoy!

Raptor Hack

Find the Files to Hack

Find the Files1. Visit Enable Community Foundation’s Device website and find the Raptor

Reloaded.

Find the Files2. Click on the “Printable Files” and then the “Thingiverse” buttons. This will take you to the Raptor Reloaded page. Click the “Download All Files” button

Find the Files3. Wait for a few seconds and the Raptor Reloaded files will appear in your downloads. If you click on the folder you will see all the files that make up a Raptor Reloaded.

Raptor Hack

Creating The Grab-Tor Files

What are you creating?In this lesson, you will be taking the knuckle and fingers from a Raptor Reloaded hand and turning them into a two-fingered Grabbing Raptor or “Grab-Tor”

Building the Grab-TorIn order to create a Grab-Tor you will need to design a “knuckle ring” consisting of two Raptor Reloaded thumb knuckles and a cylinder that will fit over a PVC pipe

Creating the Grab-Tor in Tinkercad1. In Chrome, go to www.tinkercad.com, log in, and go to “Create New Design”

Creating the Grab-Tor in Tinkercad

2. A new build plate will open. Go to the “Import” tab on the right side of the Tinkercad window. You may need to scroll around to find it.

Creating the Grab-Tor in Tinkercad3. A new build plate will open. Go to the “Import” tab on the right side of the Tinkercad window. You may need to scroll around to find it.

Creating the Grab-Tor in Tinkercad4. Click “Choose File”, go to “Downloads” and find the Raptor Reloaded folder and click on it to see all the files

Creating the Grab-Tor in Tinkercad5. You will be importing the “Raptor Reloaded Right Palm”. Find it, select it, click the “Open” button, and hit the “Import button”. The palm will show up on the build plate.

Creating the Grab-Tor in Tinkercad6. Important: You must make sure that the knuckles will be large enough for the fingers before you create the “knuckle ring”. Do this by changing the “Scale” to

120%

Creating the Grab-Tor in Tinkercad7. You can now hack (modify and take pieces from) the palm. We are going to be taking a thumb knuckle and attaching 2 or more of them to a cylinder you will design that will fit over a PVC pipe. Prepare to cut away everything but the knuckle by creating a box large enough to blot out the palm. Ensure that the small hole at the top of the knuckle is retained (bungees and cords will pass through this)

Creating the Grab-Tor in Tinkercad8. Turn the block into a “Hole”, select everything, and click “Group”

Creating the Grab-Tor in Tinkercad9. Continue to use “block Holes” to cut away until you have just the knuckle. The resulting knuckle will be tilted. Use the curved arrow to turn the knuckle and to make sure that the gap of the knuckle is straight up and down

Creating the Grab-Tor in Tinkercad10. Precisely (i.e. to the nearest mm) measure the diameter of the PVC pipe to determine the size of the hole you will need. Create a cylinder in Tinkercad and create a smaller cylindrical hole the size of the PVC pipe

Creating the Grab-Tor in Tinkercad11. Ensure that the cylindrical hole is centered in the solid cylinder and that the thickness of the ring is about 3mm. Select all and group.

Creating the Grab-Tor in Tinkercad12. Copy the knuckle and attach one to each side. You may need to create a small block (red in the below images) to attach. After attaching you may notice part of the knuckle is below the build plate. Use the black arrow to drag up.

Creating the Grab-Tor in Tinkercad13. Click on the knuckle and copy it (command C), and paste it (command V) and use the curved arrow to turn it 180 Degrees. Copy and paste the red block and attach both to the other side of the knuckle ring

Creating the Grab-Tor in Tinkercad14. Create a large block hole to shave off any sharp pieces on the top and group

Creating the Grab-Tor in Tinkercad15. You should end up with the following knuckle ring or something like it

Creating the Grab-Tor in Tinkercad16. Consider marking the ring (and all pieces) so it is possible to remember what scale each was sized at

Raptor Hack

Finding and Importing the Finger and Pin Files

Importing Fingertip, Phalange, and Pin Files1. Import a 117% scale Raptor Reloaded fingertip into Tinkercad by clicking

“Choose File”, selecting the “raptor_2.0_fingertip.stl” file, changing “Scale” to 117% and hitting “Import”. Copy and paste this fingertip (you will need 2)

Importing Fingertip, Phalange, and Pin Files2. Import a 117% scale Raptor Reloaded Proximal Phalange (i.e. the finger joint between the fingertip and knuckle) into Tinkercad by clicking “Choose File”, selecting the “raptor_2.0_proximal.stl” file, changing “Scale” to 117% and hitting “Import”. Copy and paste this Proximal Phalange (you will need 2).

Importing Fingertip, Phalange, and Pin Files3. Import a 117% scale Raptor Reloaded Thumb Pin into Tinkercad by clicking “Choose File”, selecting the “raptor_reloaded_thumb_pin.stl” file, changing “Scale” to 117% and hitting “Import”. Copy and paste this Thumb Pin (you will need 2).

Importing Fingertip, Phalange, and Pin Files4. Import a 117% scale Raptor Reloaded Finger Pin into Tinkercad by clicking “Choose File”, selecting the “raptor_2.0_finger_pin.stl” file, changing “Scale” to 117% and hitting “Import”. Copy and paste this Finger Pin (you will need 2).

Raptor Hack

Printing the Knuckle Ring and the Finger and Pin Files

Printing Knuckle Ring, Fingertip, Phalange, and Pin Files1. Group all the files together on the buildplate (close but not overlapping)

Printing Knuckle Ring, Fingertip, Phalange, and Pin Files2. Click “Design”, “Download for 3D Printing” and STL

Printing Knuckle Ring, Fingertip, Phalange, and Pin Files3. Open the printer desktop app, add the knuckle ring and finger files to the build plate. Set infill to 30%, print with 3 shells, layer height to 0.2mm and set to print with no supports. Hit “print”.

Raptor Hack

Building The Grab-Tor

Building the Grab-TorYou will need the following parts to build a Grab-Tor:

1 knuckle ring

2 finger tips

2 proximal phalanges

2 smaller finger pins

+ 2 larger

knuckle pins

Two 50cm pieces of fishing line

+ Two 20cm pieces of

elasticized cord

Building the Grab-TorStudy this “exploded Grab-Tor” carefully. Note: Elasticized cords go on the tops or the fingers, fishing line goes on the bottom, “fins” on the proximal phalanges go on the top and touch the knuckle ring, larger knuckle pin connects the proximal phalange and the knuckle ring, smaller finger pin connects the fingertip and the proximal phalange.

Building the Grab-Tor1.Get a length of PVC piping, measure with calipers, ensure that the “Grab-tor” knuckle ring that is being produced has a hole the same size as the pipe.

Building the Grab-Tor2. Drill 2 holes entirely through the pipe approximately 3 and 4cm above the end. Grab the knuckle ring that has been 3D printed

Building the Grab-Tor3. Fit the knuckle ring over the PVC pipe, grab a proximal phalange and attach it with a knuckle pin

Building the Grab-Tor4. Tie an 80 cm piece of cord or fishing line to the indicated underside of a finger tip and attach the fingertip to the proximal phalange using a finger pin.

Building the Grab-Tor5. Feed the cord through the underside of the proximal phalange and through the underside of the knuckle as shown.

Building the Grab-Tor6. Create an identically corded finger on the other side of the knuckle ring.

Building the Grab-Tor7. Grab a 20cm piece of elasticized cord. Tie one end to the top part of the fingertip as shown. Feed the other end through the indicated hole in the upper side of the proximal phalange as shown.

Building the Grab-Tor8. The elasticized cord end should poke out of the end of the hole. Grab it, feed it under the indicated side of the knuckle, pull it up, feed it as shown through one holes drilled in the PVC pipe and out the other (a bend paper clip may help you “grab” it). Tie this cord so it is now attached to the finger and the PVC pipe

Building the Grab-Tor9. Repeat with the second piece of elasticized cord on the other side. Tie to the top side of fingertip, feed it through the top tunnel of the proximal phalange, pass it through the knuckle hole, in and out of the PVC, and then tie it.

Building the Grab-Tor10.The completed Grab-Tor should look like the one shown below (both sides shown). You might consider designing and tying some 3D printed rings to the end of each string to allow you to easily move the Grab-Tor fingers with your fingers.

Raptor Hack

“Animalize” Your Grab-Tor

“Animalize” your Grab-Tor1. One interesting extension of this work involves the modification of the

Grab-Tor fingertips to convert them into some other animal grabbing appendage (talons, mammal claws, jaws, beaks, tentacle, crustacean claws etc. etc.). A Grab-Tor with modified fingertips, aside from being fun for students to create, provides an opportunity to teach such concepts as

animal adaptations, form vs function, natural selection, evolution, etc. etc.

“Animalize” your Grab-Tor2. To “Animalize” a Grab-Tor, the steps will be the same as creating a regular “finger” Grab-Tor with the exception of the inclusion of one component: the finding and importing of an animal STL file and the grafting of it onto a Raptor Reloaded finger.

Alternatively, students could also design different “add ons” to the Grab-Tor fingers in order to solve a particular problem or test different designs.

“Animalize” your Grab-Tor3. In this lesson, students will import an “Claw of Bear” STL that has been scanned and posted on Thingiverse by designer “dosuserx”. There are many other items that could be imported and grafted onto the Grab-Tor finger and students should be encouraged to be creative. Some examples:

“Animalize” your Grab-Tor4. To import the bear claw, go to the Thingiverse “Claw of Bear” page and click the “Download all Files” button

“Animalize” your Grab-Tor5. Double click on the “Claw of Bear” folder. Several files will pop up. Drag the “bclawh2.stl” file to your desktop

“Animalize” your Grab-Tor6. In Tinkercad, click “Create New Design”, appropriately name the design, go to the Import banner on the right, click it and locate the bear claw file. Hit “Import”

“Animalize” your Grab-Tor7. The file will appear on your build plate. Depending on your design, you may want to remove part of the file. Do this using a “Hole” box as an erasing tool.

“Animalize” your Grab-Tor8. Go to the ECF Designs website, click on the Raptor Reloaded

“Animalize” your Grab-Tor9. Click on the Raptor Reloaded Thingiverse link and hit “Download all Files” and click on the download button to unzip the files

“Animalize” your Grab-Tor10. Click on the Raptor Reloaded Thingiverse link and hit “Download all Files”. Return to the Import function on the Tinkercad screen, hit “Choose File”, and select the “raptor_2.0_fingertip.stl” file

“Animalize” your Grab-Tor11. Designate the appropriate %Scale (ex. we use 117% for other Grab-Tor activities) and click “import”. You will now have the fingertip and claw on the same build plate

“Animalize” your Grab-Tor12. Change the sizing of the claw by pressing “shift” and grabbing the white box at the corner of the claw file. Orient the claw file such that it attaches to the fingertip at the proper angle and use a Hole to clean up the file. Group and Grab-Tor claw has been created

“Animalize” your Grab-Tor13. Print multiple versions of the fingertip with claw and create a grabber using

regular proximal phalanges, etc. Note: This claw file is extremely sharp and potentially dangerous. Consider sanding the point of the claw to prevent injuries.

“Animalize” your Grab-Tor13. You may also consider having students design attachments for the fingertips to investigate different form and function relationships (Brookwood School does a cool evolution/natural selection project with these.

Run a Grab-Tor Build-a-Thon

Decide on the number of Grab-Tors that will be buildEnsure that you have a full sets of components for each Grab-Tor to be built

1 knuckle ring

2 finger tips

2 proximal phalanges

2 smaller finger pins

+ 2 larger

knuckle pins

Two 50cm pieces of fishing line

+ Two 20cm pieces of

elasticized cord

Create 4 Grap-Tor Building StationsSet up Stations for your Event. Participants will visit the following stations in order and will be completing a different part of the Grab-Tor at each station. Count on participants spending about 15 minutes per station.

Station 1 - Become familiarized with the Grab-Tor - See a finished product, check that you have the right components, drill a hole in the PVC

Station 2 - Attach the components - Fit the knuckle ring onto the PVC, use knuckle pins to attach both proximal phalanges, and use finger pins to attach both fingertips

Create 4 Grap-Tor Building StationsSet up Stations for your Event. Participants will be completing a different part of the Grab-Tor at each station:

Station 3 - Elasticize the fingers - Tie one end of the elasticized cord to the top side of one finger with a triple knot, feed the other end through both holes in the PVC, pull taut and tie the other end to the top side of the second finger. Ensure that the fingers stick out but can be bent down with minimal force

Station 4 - String up the fingers. Tie one length of fishing line to the underside of one of the fingers. Feed the line through the bottom of the proximal phalange and up through the hole in the knuckle ring. This line should not go into the inside of the PVC pipe. Voila. You should now have a completed Grab-Tor