One of the most important research areas searches for new sources of energy and for the highest efficiency from existing energy sources. Radio frequency (RF) energy harvesting is a promising alternative to obtain energy for wireless devices directly from RF energy sources in the environment. In this paper, we provide a broad overview of the main blocks of RF energy harvesting systems; which are the wireless transmission medium, the antenna and impedance matching circuit, the rectifier, the voltage multiplier, and the energy storage device or load. The characteristics of these blocks directly affect the performance of an RF energy harvesting system. We mainly focus on the ratio of output and input powers at each block, named as the conversion efficiency and the impedance matching efficiency, which determines the overall efficiency of system. We present detailed information about the system parameters. Thus, we characterize an RF energy harvesting system, which makes the design of system possible to obtain the maximum efficiency and correspondingly the maximum output power, providing the necessary insight about the design of RF energy harvesting systems. (C) 2019 Elsevier Ltd. All rights reserved.