The aim of the paper is to present a modular system, with the help of which it is possible to reveal the structure and analysis of a mechatronic system, taking into account several disciplines that contribute to the structure of the system. The planned system will include devices from different disciplines, the operation and coordination of which will be observable. The designed system is a two-degree-of-freedom mechanism with a translational and a rotary joint. The movement of the joints are obtained by different types of energy converters (pneumatic, electric). The replacement of the different types of drives can be performed quickly and easily without drastically changing the system setup. The simulations are implemented using the MATLAB Simscape software package.

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