Entropy generation rate for a mechatronics system

A mechatronics system consisting of a robot with four arms is considered in this work for the analysis of entropy generation rate. The system is modelled for its planar motion using Lagrange's equations and is subsequently linearised for small angles. The entropy generation rate is then defined by the time derivative of the difference between the total energies of this system with and without the proportional damping. Results for two cases of initial conditions are then obtained for the absolute angles and linear velocities as well as for the entropy generation rate. The results indicate the fast attenuation of the entropy generation rate with twice the fundamental natural frequency of the system.