Yes.
You can drop down from above before the level exit on one of the poles and then to the Armour; but don’t try to drop down directly to the Armour or you will be pushed into the slime.
Or, as intended by the author (SPOILER), you can use one of the lateral sides of the platform you’re standing on when facing the Armour as a ramp to launch yourself to the Armour; I found that the right side makes for an easier jump.