How Do I Open PDF Files on My Android Phone That Were downloaded from?

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How do I open PDF files on my Android phone that were downloaded from my Google Drive? It says there is no app to open that file type. The file link is "" and I'm using a Samsung Galaxy.

I used to do it using my Samsung Galaxy Note 5, courtesy of its S-pen. Now I have bought OnePlus 6 and I have used Form Pdf Typer Fill & Sign app but its not that convenient and signatures are not of great quality. So is there any way to do it in some other way??

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Please help me :) Thanks in advance :) Update 06/05/17: The app has been updated, and now I am able to fill & sign with my Android phone.