In product development, many different models of the product and the development process exist. These models are used for different tasks according to the phases of product development. A phase, in which product models play an essential role, is the embodiment design phase. The product is defined under consideration of requirements and boundaries of the development task. Finding a suitable model for a task can be challenging, as by now many different models are available. The aim of this contribution is to develop a support for selection of a suitable model for a task in embodiment design. Criteria from other model structuring approaches described in literature are used. The considered product models are identified in a systematic literature review with the focus on currently used product models in embodiment design practice and research. The developed support consists of a framework for structuring the models according to purpose and engineering phase and a table for structuring according to model properties. A guideline on how to identify suitable models by using the framework and the table for tasks in embodiment design is given.