An increase in electric railway vehicles service velocity requires that correct interaction between the pantograph and the catenary is ensured. This implies the need for developing mathematical models of pantographs and catenaries and determining their parameters. The article presents a method to determine parameters of mechanical joints of a railway pantograph based on analysis of pantograph subassemblies in swinging motion. The experimental tests consisted in disassembling the pantograph and creating partial subassemblies which were then analysed with respect to their damped linear or angular oscillations. The simulation analysis required developing, in CAD, 3D models of individual pantograph parts and their subassemblies. Defined were joints between particular elements, which represent of real pantograph structure. The inertia parameters of the model were determined, based on structural characteristics and physical properties of materials, used for manufacturing individual pantograph elements, and then verified experimentally. The dissipative parameters of the mechanical joints were calculated iteratively. The model of complete pantograph assembly was also subject to verification and in this case, good convergence between simulation and experiment results was achieved. The obtained parameter values can be used in simulation models of other railway pantographs having a similar structure.