My grandaughters father can not afford child support or insurance... if guardianship is signed over to me, the grandmother, will child support still have to be involved? I am willing to take on the responsibility of raising my grandaughter.

Welcome to AMHD. To the extent that I understand your question, 'child support', as an agency of government to force parents to pay child support, is not involved until someone actually makes an application; usually, it is the custodial parent making the request. You should get some formal documentation from both parents (dated, signed, notarized) giving you custody of the child.