本书主要介绍使用UG 软件、Proteus 软件、Altium Designer 软件进行智能小车机器人设计的方法。本书内容涉及UG 软件的模型绘制、模型装配和运动仿真，Proteus 软件的电路设计和电路仿真，Altium Designer 软件的元件库绘制、原理图绘制和PCB 绘制。本书从机械结构、电路设计、PCB 设计三部分对智能小车机器人进行详细讲解，完整介绍了动力模块零部件绘制、车体模块零部件绘制、零部件装配与运动仿真、基础电路仿真、基于51 单片机的智能小车机器人仿真、基于Arduino 单片机的智能小车机器人仿真、元件库绘制和PCB 设计。通过学习本书，读者可以在熟悉UG 软件、Proteus 软件、Altium Designer 软件操作的同时体会智能小车机器人的设计思路，为自己设计智能小车机器人打下基础。

刘波，至今具有八年写作经验，累计编写书籍十余本，主要著作有《玩转机器人》系列丛书和《玩转电子设计》系列丛书。擅长将三维制图软件、电路设计软件及编程软件综合利用。

第1 章 动力模块零部件绘制 ·························································································1
1.1 直流电动机部件 ··································································································.2
1.1.1 模型绘制 .............................................................................................................................. 2
1.1.2 模型渲染 ............................................................................................................................ 13
1.2 轮毂部件 ···········································································································14
1.2.1 模型绘制 ............................................................................................................................ 14
1.2.2 模型渲染 ............................................................................................................................ 18
1.3 轮胎部件 ···········································································································19
1.3.1 模型绘制 ............................................................................................................................ 19
1.3.2 模型渲染 ............................................................................................................................ 24
1.4 联轴器部件 ······································································································.25
1.4.1 模型绘制 ............................................................................................................................ 25
1.4.2 模型渲染 ............................................................................................................................ 29
第2 章 车体模块零部件绘制 ························································································31
2.1 直流电动机支架部件 ··························································································.32
2.1.1 模型绘制 ............................................................................................................................ 32
2.1.2 模型渲染 ............................................................................................................................ 34
2.2 下车架部件 ······································································································.35
2.2.1 模型绘制 ............................................................................................................................ 35
2.2.2 模型渲染 ............................................................................................................................ 41
2.3 上车架部件 ······································································································.42
2.3.1 模型绘制 ............................................................................................................................ 42
2.3.2 模型渲染 ............................................................................................................................ 44
2.4 3mm 铜柱部件 ··································································································.45
2.4.1 模型绘制 ............................................................................................................................ 45
2.4.2 模型渲染 ............................................................................................................................ 46
2.5 循迹模块板型部件 ·····························································································.47
2.5.1 模型绘制 ............................................................................................................................ 47
2.5.2 模型渲染 ............................................................................................................................ 48
2.6 电动机驱动模块板型部件 ····················································································.50
2.6.1 模型绘制 ............................................................................................................................ 50
2.6.2 模型渲染 ............................................................................................................................ 51
2.7 最小系统模块板型部件 ·······················································································.52
2.7.1 模型绘制 ............................................................................................................................ 52
2.7.2 模型渲染 ............................................................................................................................ 53
第3 章 零部件装配与运动仿真 ·····················································································55
3.1 零部件装配 ·······································································································.56
3.1.1 动力模块装配 .................................................................................................................... 56
3.1.2 车体模块装配 .................................................................................................................... 64
3.1.3 整体装配 ............................................................................................................................ 74
3.2 运动仿真 ··········································································································78
3.2.1 创建连杆 ............................................................................................................................ 78
3.2.2 创建运动副 ........................................................................................................................ 81
3.2.3 加载驱动 ............................................................................................................................ 84
3.2.4 创建解算方案 .................................................................................................................... 85
第4 章 基础电路仿真 ·····························································································. 87
4.1 电源电路 ···········································································································88
4.1.1 电路设计 ............................................................................................................................ 88
4.1.2 电路仿真 ............................................................................................................................ 90
4.2 电动机驱动电路 ································································································.91
4.2.1 电路设计 ............................................................................................................................ 91
4.2.2 电路仿真 ............................................................................................................................ 93
4.3 循迹传感器电路 ································································································.95
4.3.1 电路设计 ............................................................................................................................ 95
4.3.2 电路仿真 ............................................................................................................................ 96
4.4 声光电路 ··········································································································.97
4.4.1 电路设计 ............................................................................................................................ 97
4.4.2 电路仿真 ............................................................................................................................ 98
4.5 数码管电路 ······································································································.103
4.5.1 电路设计 .......................................................................................................................... 103
4.5.2 电路仿真 .......................................................................................................................... 104
第5 章 基于51 单片机的智能小车机器人仿真 ································································110
5.1 电路设计 ·······································································································.111
5.1.1 硬件系统框图 .................................................................................................................. 111
5.1.2 整体电路 .......................................................................................................................... 111
5.2 单片机程序设计 ·······························································································115
5.2.1 主要程序功能 .................................................................................................................. 115
5.2.2 整体程序 .......................................................................................................................... 128
5.3 整体仿真测试···································································································.140
第6 章 基于Arduino 单片机的智能小车机器人仿真 ························································149
6.1 原理图设计 ·····································································································.150
6.1.1 新建工程 .......................................................................................................................... 150
6.1.2 电路设计 .......................................................................................................................... 152
6.2 可视化流程图设计 ···························································································.154
6.2.1 子程序流程图设计 ........................................................................................................... 154
6.2.2 主程序流程图设计 ........................................................................................................... 158
6.3 整体仿真 ·······································································································.165
第7 章 元件库绘制 ·······························································································.175
7.1 AT89S51 单片机元件库绘制 ············································································. 176
7.1.1 AT89S51 单片机原理图元件库绘制 ............................................................................... 176
7.1.2 AT89S51 单片机封装元件库绘制 ................................................................................ ... 179
7.2 晶振元件库绘制 ····························································································.··185
7.2.1 晶振原理图元件库绘制 ................................................................................................... 185
7.2.2 晶振封装元件库绘制 ....................................................................................................... 186
7.3 滑动开关元件库绘制 ·······················································································.189
7.3.1 滑动开关原理图元件库绘制 ........................................................................................... 189
7.3.2 滑动开关封装元件库绘制 ............................................................................................... 191
7.4 L298HN 芯片元件库绘制 ·················································································.197
7.4.1 L298HN 芯片原理图元件库绘制 .................................................................................... 197
7.4.2 L298HN 芯片封装元件库绘制 ........................................................................................ 200
7.5 TCRT5000 元件库绘制 ····················································································.212
7.5.1 TCRT5000 原理图元件库绘制 ........................................................................................ 212
7.5.2 TCRT5000 封装元件库绘制 ............................................................................................ 214
7.6 LM393 元件库绘制 ··························································································.217
7.6.1 LM393 原理图元件库绘制 .............................................................................................. 217
7.6.2 LM393 封装元件库绘制 .................................................................................................. 219
第8 章 PCB 设计 ··································································································.223
8.1 循迹模块 ·········································································································224
8.1.1 原理图绘制 ...................................................................................................................... 224
8.1.2 PCB 绘制 .......................................................................................................................... 226
8.2 电动机驱动模块 ·······························································································.230
8.2.1 原理图绘制 ...................................................................................................................... 230
8.2.2 PCB 绘制 ..........................................................................................................................232
8.3 最小系统模块···································································································.235
8.3.1 原理图绘制 ...................................................................................................................... 235
8.3.2 PCB 绘制 ......................................................................................................................... 238
参考文献 ·············································································································.244