I am trying to do animations on iPhone using OpenGL ES. I am able to do the animation in Blender 3D software. I can export as a .obj file from Blender to OpenGL and it works on
If you have a look at this article by Jeff LaMarche, you'll find a blender script that will output a 3D model to a C header file. There's also a followup article that improves upon the aforementioned script.
After you've run the script, it's as simple as including the header in your source, and passing the array of vertices through your drawing function. Ideally you'd want a method of loading arbitrary model files at runtime, but for prototyping this method is the simplest to implement.
Seeing as you already have a method of importing models (obj) then the above may not apply. However, the advantage of using a blender script is that you can then modify the script to suit your own needs, perhaps also exporting bone information or model keyframes.