A novel multimodal piezoelectric energy harvester with rotating-DOF for low-frequency vibration

•A novel piezoelectric energy harvester with double hinged beam is presented.•The output characteristics are investigated by simulation and experiments.•The first-order resonant frequency of the harvester is as low as 12.65 Hz.•Multimodal energy harvesting is achieved at the first and third order resonance.•The excellent harvesting performance in the low-frequency environment is verified.