Raptor Hacking
Turning 3D Printed Prosthetic into a Grabber
Raptor or “Grab-Tor”
Raptor Hacking - Background Info
What 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 Info
What 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 Files
1.
Visit Enable Community Foundation’s Device website and find the Raptor
Reloaded.
Find the Files
2. 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 Files
3. 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-Tor
In 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 Tinkercad
1.
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 Tinkercad
3. 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 Tinkercad
4. 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 Tinkercad
5. 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 Tinkercad
6. 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 Tinkercad
7. 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 Tinkercad
8. Turn the block into a “Hole”, select everything, and click “Group”
Creating the Grab-Tor in Tinkercad
9. 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 Tinkercad
10. 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 Tinkercad
11. 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 Tinkercad
12. 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 Tinkercad
13. 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 Tinkercad
14. Create a large block hole to shave off any sharp pieces on the top and group
Creating the Grab-Tor in Tinkercad
15. You should end up with the following knuckle ring or something like it
Creating the Grab-Tor in Tinkercad
16. 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 Files
1.
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 Files
2. 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 Files
3. 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 Files
4. 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 Files
1.
Group all the files together on the buildplate (close but not overlapping)
Printing Knuckle Ring, Fingertip, Phalange, and Pin Files
2. Click “Design”, “Download for 3D Printing” and STL
Printing Knuckle Ring, Fingertip, Phalange, and Pin Files
3. 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-Tor
You 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-Tor
Study 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-Tor
1.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-Tor
2. 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-Tor
3. Fit the knuckle ring over the PVC pipe, grab a proximal phalange and attach it
with a knuckle pin
Building the Grab-Tor
4. 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-Tor
5. Feed the cord through the underside of the proximal phalange and through the
underside of the knuckle as shown.
Building the Grab-Tor
6. Create an identically corded finger on the other side of the knuckle ring.
Building the Grab-Tor
7. 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-Tor
8. 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-Tor
9. 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-Tor
10.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-Tor
1.
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-Tor
2. 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-Tor
3. 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-Tor
4. To import the bear claw, go to the Thingiverse “Claw of Bear” page and click the
“Download all Files” button
“Animalize” your Grab-Tor
5. Double click on the “Claw of Bear” folder. Several files will pop up. Drag the
“bclawh2.stl” file to your desktop
“Animalize” your Grab-Tor
6. 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-Tor
7. 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-Tor
8. Go to the ECF Designs website, click on the Raptor Reloaded
“Animalize” your Grab-Tor
9. 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-Tor
10. 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-Tor
11. 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-Tor
12. 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-Tor
13. 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-Tor
13. 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 build
Ensure 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 Stations
Set 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 Stations
Set 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