Virtual prototypes facilitate the development and understanding of advanced mechatronic systems, including the modeling, simulation and analysis of a system. Particularly the visual analysis of virtual prototypes can be enhanced by visualization techniques integrated in virtual reality (VR)-applications. However, there are less documentation and approaches for a systematic design of such visualization techniques for mechatronic systems. Therefore in this thesis a systematics-based design of visualization techniques for the visual analysis of advanced mechatronic systems in VR-application is acquired. Basic idea of the design framework is the presentation of a mechatronic system on several structuring levels within a virtual environment. For analysis of these levels there are proposed primary visualization techniques, for system-independent analysis, as secondary visualization techniques for system-dependent analysis. Three main components are part of the design framework: multiple elements for the specification of visualization tasks as well as visualization techniques, a well-structured procedure model and a VR-application for the analysis of mechatronic systems. The design framework is developed and validated by several examples of the rail system RailCab. A prototypically implemented VR-application shows the applicability of the visualization techniques.