Annotated manipulator

This example shows how you can annotate a technical drawing. The three link manipulator is the same as another example in the gallery. I've used macros extensively to avoid duplicating code.

Edit and compile if you like:

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\documentclass{article}
\usepackage[latin1]{inputenc}
\usepackage{tikz}
\usetikzlibrary{patterns}
\begin{document}
\pagestyle{empty}
% Note. This illustration was originally made with PSTricks. Conversion to
% PGF/TikZ was straightforward. However, I could probably have made it more
% elegant.
% Define a variable as a length
% Input:
%   #1 Variable name
%   #2 Value
%
% Example:
%   \nvar{\varx}{2cm}
\newcommand{\nvar}[2]{%
    \newlength{#1}
    \setlength{#1}{#2}
}
% Define a few constants for drawing
\nvar{\dg}{0.3cm}
\def\dw{0.25}\def\dh{0.5}
\nvar{\ddx}{1.5cm}
% Define commands for links, joints and such
\def\link{\draw [double distance=1.5mm, very thick] (0,0)--}
\def\joint{%
    \filldraw [fill=white] (0,0) circle (5pt);
    \fill[black] circle (2pt);
}
\def\grip{%
    \draw[ultra thick](0cm,\dg)--(0cm,-\dg);
    \fill (0cm, 0.5\dg)+(0cm,1.5pt) -- +(0.6\dg,0cm) -- +(0pt,-1.5pt);
 
 
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