玩轉機器人：DIY智能小車機器人（移動視頻版）

第1 章 動力模塊零部件繪制 ·························································································1
1.1 直流電動機部件 ··································································································.2
1.1.1 模型繪制 .............................................................................................................................. 2
1.1.2 模型渲染 ............................................................................................................................ 13
1.2 輪轂部件 ···········································································································14
1.2.1 模型繪制 ............................................................................................................................ 14
1.2.2 模型渲染 ............................................................................................................................ 18
1.3 輪胎部件 ···········································································································19
1.3.1 模型繪制 ............................................................................................................................ 19
1.3.2 模型渲染 ............................................................................................................................ 24
1.4 聯軸器部件 ······································································································.25
1.4.1 模型繪制 ............................................................................................................................ 25
1.4.2 模型渲染 ............................................................................................................................ 29
第2 章 車體模塊零部件繪制 ························································································31
2.1 直流電動機支架部件 ··························································································.32
2.1.1 模型繪制 ............................................................................................................................ 32
2.1.2 模型渲染 ............................................................................................................................ 34
2.2 下車架部件 ······································································································.35
2.2.1 模型繪制 ............................................................................................................................ 35
2.2.2 模型渲染 ............................................................................................................................ 41
2.3 上車架部件 ······································································································.42
2.3.1 模型繪制 ............................................................................................................................ 42
2.3.2 模型渲染 ............................................................................................................................ 44
2.4 3mm 銅柱部件 ··································································································.45
2.4.1 模型繪制 ............................................................................................................................ 45
2.4.2 模型渲染 ............................................................................................................................ 46
2.5 循跡模塊板型部件 ·····························································································.47
2.5.1 模型繪制 ............................................................................................................................ 47
2.5.2 模型渲染 ............................................................................................................................ 48
2.6 電動機驅動模塊板型部件 ····················································································.50
2.6.1 模型繪制 ............................................................................................................................ 50
2.6.2 模型渲染 ............................................................................................................................ 51
2.7 最小系統模塊板型部件 ·······················································································.52
2.7.1 模型繪制 ............................................................................................................................ 52
2.7.2 模型渲染 ............................................................................................................................ 53
第3 章 零部件裝配與運動模擬 ·····················································································55
3.1 零部件裝配 ·······································································································.56
3.1.1 動力模塊裝配 .................................................................................................................... 56
3.1.2 車體模塊裝配 .................................................................................................................... 64
3.1.3 整體裝配 ............................................................................................................................ 74
3.2 運動模擬 ··········································································································78
3.2.1 創建連桿 ............................................................................................................................ 78
3.2.2 創建運動副 ........................................................................................................................ 81
3.2.3 加載驅動 ............................................................................................................................ 84
3.2.4 創建解算方案 .................................................................................................................... 85
第4 章 基礎電路模擬 ·····························································································. 87
4.1 電源電路 ···········································································································88
4.1.1 電路設計 ............................................................................................................................ 88
4.1.2 電路模擬 ............................................................................................................................ 90
4.2 電動機驅動電路 ································································································.91
4.2.1 電路設計 ............................................................................................................................ 91
4.2.2 電路模擬 ............................................................................................................................ 93
4.3 循跡傳感器電路 ································································································.95
4.3.1 電路設計 ............................................................................................................................ 95
4.3.2 電路模擬 ............................................................................................................................ 96
4.4 聲光電路 ··········································································································.97
4.4.1 電路設計 ............................................................................................................................ 97
4.4.2 電路模擬 ............................................................................................................................ 98
4.5 數碼管電路 ······································································································.103
4.5.1 電路設計 .......................................................................................................................... 103
4.5.2 電路模擬 .......................................................................................................................... 104
第5 章 基於51 單片機的智能小車機器人模擬 ································································110
5.1 電路設計 ·······································································································.111
5.1.1 硬件系統框圖 .................................................................................................................. 111
5.1.2 整體電路 .......................................................................................................................... 111
5.2 單片機程序設計 ·······························································································115
5.2.1 主要程序功能 .................................................................................................................. 115
5.2.2 整體程序 .......................................................................................................................... 128
5.3 整體模擬測試···································································································.140
第6 章 基於Arduino 單片機的智能小車機器人模擬 ························································149
6.1 原理圖設計 ·····································································································.150
6.1.1 新建工程 .......................................................................................................................... 150
6.1.2 電路設計 .......................................................................................................................... 152
6.2 可視化流程圖設計 ···························································································.154
6.2.1 子程序流程圖設計 ........................................................................................................... 154
6.2.2 主程序流程圖設計 ........................................................................................................... 158
6.3 整體模擬 ·······································································································.165
第7 章 元件庫繪制 ·······························································································.175
7.1 AT89S51 單片機元件庫繪制 ············································································. 176
7.1.1 AT89S51 單片機原理圖元件庫繪制 ............................................................................... 176
7.1.2 AT89S51 單片機封裝元件庫繪制 ................................................................................ ... 179
7.2 晶振元件庫繪制 ····························································································.··185
7.2.1 晶振原理圖元件庫繪制 ................................................................................................... 185
7.2.2 晶振封裝元件庫繪制 ....................................................................................................... 186
7.3 滑動開關元件庫繪制 ·······················································································.189
7.3.1 滑動開關原理圖元件庫繪制 ........................................................................................... 189
7.3.2 滑動開關封裝元件庫繪制 ............................................................................................... 191
7.4 L298HN 芯片元件庫繪制 ·················································································.197
7.4.1 L298HN 芯片原理圖元件庫繪制 .................................................................................... 197
7.4.2 L298HN 芯片封裝元件庫繪制 ........................................................................................ 200
7.5 TCRT5000 元件庫繪制 ····················································································.212
7.5.1 TCRT5000 原理圖元件庫繪制 ........................................................................................ 212
7.5.2 TCRT5000 封裝元件庫繪制 ............................................................................................ 214
7.6 LM393 元件庫繪制 ··························································································.217
7.6.1 LM393 原理圖元件庫繪制 .............................................................................................. 217
7.6.2 LM393 封裝元件庫繪制 .................................................................................................. 219
第8 章 PCB 設計 ··································································································.223
8.1 循跡模塊 ·········································································································224
8.1.1 原理圖繪制 ...................................................................................................................... 224
8.1.2 PCB 繪制 .......................................................................................................................... 226
8.2 電動機驅動模塊 ·······························································································.230
8.2.1 原理圖繪制 ...................................................................................................................... 230
8.2.2 PCB 繪制 ..........................................................................................................................232
8.3 最小系統模塊···································································································.235
8.3.1 原理圖繪制 ...................................................................................................................... 235
8.3.2 PCB 繪制 ......................................................................................................................... 238
參考文獻 ·············································································································.244