The meanings are basically similar. 안다 is the basic form. 끌어 from 끌어안다 litertally describes "dragging or pulling" someone to hug so I think 끌어안다 is more descriptive. There's one more thing that is 껴안다. 껴 describes the way you put your arms to another. So they are more descriptive words than the basic form of 안다.