This package provides functionalities to draw kinematic diagrams for mechanisms using dedicate symbols (some from the ISO standard and others). The intention is not to represent CAD mechanical drawings of mechanisms and robots, but only to represent 2D and 3D kinematic chains. The package provides links, joints and other symbols, mostly in the form of TikZ pic objects. These pictures can be placed in the canvas either by a central point for joints, and start and end points for some links.