"I wanted to be a Falcon, so we made it work," Samuel said.
The Falcons announced the trade after Samuel agreed to restructure his contract to a three-year, $18.5 million deal. His contract with Philadelphia called for him to earn $9.9 million in 2012 and $11.4 million in 2013.
"The Falcons already have an excellent team and excellent coaches and schemes and talent and all that good stuff," Samuel said in a telephone interview. "I'm just going to add to the bunch to get the one common goal."
"I'm getting (followers) every second of the minute," he said. "It's fun. Everybody is excited and pumped up. It feels like I'm a missing link, so we'll see how this thing goes."
Grimes, who signed his franchise tag tender Tuesday, will make $10.262 million this season. Robinson will earn $6 million.
"Asante has established himself as a very productive player during his career," Falcons general manager Thomas Dimitroff said. "He is a proven player in this league and we feel that this move upgrades the talent of our roster and improves our football team."
"He was a big part of making this deal happen," Samuel said of Dimitroff. "He's excited, too, you know? He knows what I bring to the table and I'm going to come in there confident.
"I knew he had a lot of familiarity with me. We talked every time we played each other. It definitely had a lot to do with it and he definitely made me comfortable."
While Asomugha and Rodgers-Cromartie struggled in a new defense and new roles, Samuel was the most consistent of the trio. The outspoken Samuel probably sealed his fate in Philadelphia when he criticized the front office at the trade deadline, saying management was "playing fantasy football with the owner's money."
"I wish Philly nothing but the best," Samuel said. "I love the organization and Eagles Nation. I know it was sad to see me go. I know everybody can't figure why this is happening and why it is going this way, but this is business."
The Eagles, who were looking to clear payroll, now have 10 picks in the draft, including three of the top 51.
Samuel has 45 career interceptions in nine seasons, fourth among active players. He had only three interceptions in 14 games last season, but his 38 interceptions since 2006 lead the NFL.
AP Sports Writer Rob Maaddi in Philadelphia contributed to this report.