No, there is no form for you to fill out to claim your grandchildren
as your dependents.
If neither parent claims them, and they live with you for
more than half the year, and they meet all the other tests, you may be able to
claim them.
TurboTax will ask the questions that are required to
determine if you can claim them. There are no special forms.
See this link
for the TurboTax discussion about Dependents, and this
chart from the IRS.
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