Example for grub-mkimage & grub-setup

[Truth]

I would like to install grub2 to a USB-stick (e.g. /dev/sdb).
From the grub.info I've learned that ... `grub-install' is actually just a shell script and the real task is done by `grub-mkimage' and `grub-setup'.  Therefore, you may run those commands directly to install GRUB, without using `grub-install'.
(see chapter 3.1. Installing GRUB using grub-install)
However, the man-pages for grub-setup and grub-mkimage are quite short and seem to be more helpful for people which already know what to do rather than people which want to understand what's going on.
Unfortunately, I couldn't find any example on how to install grub by just using the commands grub-mkimage and grub-setup.
In order to learn more about grub I would appreciate your comments and examples.
Thanks in advance ...