An angular rate sensing system suitable for a micromechanical flying
insect (MFI) device. The system includes a rod, or haltere, that is moved
in a plane by a piezoelectric actuator. Bending of the haltere due to
angular movement of a body onto which the haltere is coupled is sensed
with a resistive strain gage. In a first embodiment the haltere is
actuated (i.e., made to beat or sweep) by simple coupling to an actuator.
In a second embodiment, a four-bar structure is used to amplify the
motion of a piezoelectric bender to cause haltere beating. Another
embodiment achieves haltere beating by parasitic transmission of
vibrations of the MFI body to the base of the haltere.