AFAIK, I should be possible to use Appium with Arquillian Cube. asotobu Could shed more light on this - if there is some limitation.
On the other hand, if you have Appium installed on your machine and you just need to connect it to your UI tests - you could use a new extension of Arquillian Drone:
Please take a look on it...
Yes it should be possible. For what I understand you want to do is use Cube and that's all without integration with Drone, isn't it?