Thanks for the link!
In my experience, pneumatic systems work by pushing air in one direction or another, causing a piston to extend or contract. While you could create a vacuum by using a complicated pneumatic system with multiple pistons, you might be better off finding a vacuum or reversible pump and replacing the motor with something frc legal.
Most pumps for air mattresses have a second hole that will act as a vacuum to aid in deflating the mattress, I'm sure you could figure out some way to replacing the motor inside a cheap one from Walmart(or any other department store)
This thread from 2013 might be of some use:
http://www.chiefdelphi.com/forums/sh...d.php?t=110832
Keep me posted on your use of suction cups for this year! We never really considered vacuums, and it seems like a very interesting solution.