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Insane Genius
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most double acting pneumatic cylinders will work underwater, and if you properly vent the exhausts you can use single acting cylinders as well

Make sure you use cylinders that are mostly aluminium and Stainless steel construction, which again is most of them.

when building a mechanism that works under water remember that your going to suffer much greater loads , so beef up the supports and linkages or expect breakage
 
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