This paper describes a novel 3D simulation modelling system for supporting our distributed machine design and control paradigm with respect to simulating and emulating machine behaviour on the Internet. The system has been designed and implemented using Java2D and Java3D. Art easy assembly concept of drag-and-drop assembly has been realised and implemented by the introduction of new connection features (unified interface assembly features) between two assembly components (modules). The system comprises a hierarchical geometric modeller, a behavioural editor, and two assemblers. During modelling, designers can combine basic modelling primitives with general extrusions and integrate CAD geometric models into simulation models. Each simulation component (module) model can be visualised and animated in VRML browsers. It is reusable. This makes machine design re-configurable and flexible. A case study example is given to support our conclusions.