Or, if you have your Android device set up (and it allows it), you can connect via USB to your PC and copy the apk to your Downloads directory and then use a file manager on your Android device (free ones available in the Play Store, if you need it) to open and install it.
And, if you set your Android device up and Eclipse recognizes it, simply running it from Eclipse installs it and leaves it on your device. This is the same as running an iOS app from Xcode on an attached device.
Cheers,
Ancient Lady
AGK Community Tester and AppGameKit Master