Modeling and experimental verification of an impact-based piezoelectric vibration energy harvester with a rolling proof mass

•Impact-based VEHs with a rolling proof mass are promising candidates for scavenging low-level, broadband, and low-frequency vibration energy.•A mathematical model of impact-based piezoelectric VEHs with a rolling proof mass was established for the first time.•The model agrees well with experimental results.•The output properties of the harvester are also theoretically and experimentally analyzed.