[DonRotolo]

There are also bad ways, like zip ties, so avoid those...

The cylinder rod end is usually attached through a Clevis using a nut and bolt.
The cylinder end is often attached to the end pin with brackets which are then bolted to the robot. Resist the temptation to remove the pin and bolt the cylinder end directly to the robot - this can limit movement.
Also, remember that ALL pneumatic components must be held as sacred, and never modified in any way (read the rules in this regard please), which includes machining or even significant scratches.