If the arm view during your simulation in WinCAPS is somewhat chunky and staggered, there is a simple way to adjust this by changing the Monitor Sampling time. This may consume additional system resources, so if other slowdowns are noticed, this can be adjusted back up.
Step by Step Guide
First, while in WinCAPS, but not simulation mode, go to Tool -> Option
Next, choose the Communication tab from the Option Setting window
Now slide all three sliders all the way to the left and click OK.
Now slide all three sliders all the way to the Rerun your simulation and the arm motion should be much smoother than before.