The tutorial page can help you figure out how to use the software, and you can also go to StackExchange to ask questions and get help from others.
To download the free software for your Windows, Mac, or Linux machine, go to the download page. Since it is open-source, the community of developers volunteers to find bugs and improve the software. There is an amazing community behind FreeCAD. The ability to study robot movements in a graphical environment with the use of the Robot simulation mode.