As tofr said, you can access almost every instance (and thus any community) from any instance.
But, if you're wanting to sign up for the android instance, and access it through the app Connect, you would do so by opening the left hand side menu, then the three dot at the top of the side screen. Select "add account", then type in the instance name and the rest of your login info.
But. Afaik, you can't sign up via any of the apps currently. You would have to visit the website of the instance and sign up there.