Is there a way to download the files stored on Google Drive to an Android device?
You can use ES File Explorer.
To get connected:

Press the settings button on the phone, or the app.

Expand the Network list, and click Cloud.
Click New, and choose Gdrive.

Enter your Google credentials, accept the terms, and you're all set up.

To copy a file to the phone:

Locate the file on Gdrive through ES File Explorer.
Long press the file.
Press More, then Copy to.
Select the location to copy the file to, and press OK.

OR...

Locate the file on Gdrive through ES File Explorer.
Long press the file.
Press Copy.
Navigate to the location you want the file.
Press Paste.