Early design is widely accepted inside the engineering design community as a crucial design stage. This is due to the fact that decisions taken at this stage constrain heavily the final performance of products. This article presents a design framework for the early design stage of mechatronic products. This framework provides a scientifically coherent methodology for refinement, analysis, modelling, comparison and evaluation of design solutions at early stage of the design process. A System Modelling Language (SysML) is proposed as a powerful modelling language properly adapted to mechatronic requirements. In addition, the article proposes to combine SysML with dimensional analysis and qualitative physics in order to provide a design tool able to carry out also early simulations, comparisons and evaluations.