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It all depends on how accurate you want to be in your drawings. If you have an intricate drawing (such as a robot), it won't be done in a day unless you dumb it down a bit.
For example, I did a 3D Model in AutoCAD of 470's robot. It is exact to the millimeter. (Including the extruded aluminum. No parts are from the firstcarlibrary either. It took me roughtly 2-3 weeks of on and off work.
I'm also by no means an 'advanced' CAD user.
My best suggestion would be AutoCAD, as it's what I use. You can do 2D modeling, and once "mastering" that it's not a hard jump to 3D.
I taught myself most of AutoCAD's procedures. I took a Introduction to CAD class in my highschool and learned the very basics (circles, offsets, etc.) and now I'm doing 3D full scale robots.
If you are really trying to get a decent model of something, AutoCAD I think will be one of your best bets. It may take a week or two to finish a drawing, or it may take 10 minutes. It really depends on what you are trying to do.
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