Most of what you need should have been included in your kit, such as the compressor, air tanks, regulators, pressure sensor, relief valves, brass fittings, and solenoids.
To connect tubing between these components, you must purchase some quick-connect fittings, such as these:
http://www.mcmaster.com/#push-to-con...ttings/=5f3vqo . Unfortunately, these items are no longer provided in the kit. You probably want 1/4 inch fittings, to interface with the kit tubing. Look in the manual, specifically section 8, rules <R71> through <R79>, to make sure everything you get is legal.
Also, you will need actual pneumatic cylinders. You can use a wide variety (look in the manual for the exact rules on what you can and cannot use,) but in general, the 3 free cylinders provided by Bimba will work for you. They can be ordered here:
http://www.bimba.com/FirstFree.aspx
Finally, the recently-released pneumatics manual makes good reading:
http://usfirst.org/uploadedFiles/Com...%20Rev%20-.pdf
Good luck!