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Piezoelectric energy harvesting faces a primary challenge in effectively capturing low-orbit vibration energy across a broad frequency range. In this paper, we present a tri-stable piezoelectric energy harvester that incorporates a dynamic amplifier (TPEH + DM), specifically designed for efficient collection of low-orbit vibration energy. The TPEH + DM comprises a piezoelectric cantilever beam connected to an innovative dynamic amplifier at its restrained end, which enhances both the rotational and lateral displacement of the piezoelectric cantilever beam simultaneously. The governing coupled differential equations of motion for the system is derived based on the Lagrange equation, and analytical expressions for its steady-state response are obtained using the multi-scale method. The influence of factors such as the mass and the stiffness ratio of the dynamic amplifier on the steady-state dynamic output characteristics of the system is investigated using the theoretical analysis and numerical simulation. The results indicate that TPEH + DM exhibits significantly improved energy harvesting performance compared to TPEH under low-orbit external excitations. The bandwidth of inter-well motion and the TPEH + DM power output may be further increased by suitably modifying the relative stiffness between the cantilever beam and the dynamic amplifier. In addition, we analyze the time-domain behavior of the system's output voltage using the ode45 solver under various external excitation frequencies and intensities. The results demonstrate that with appropriate adjustments to the mass of the tip magnet and the stiffness ratio of the dynamic amplifier, the proposed TPEH + DM system can harvest energy efficiently across a broad frequency range, even under low-orbit excitations. [ABSTRACT FROM AUTHOR]