Rubber cement would probably be a bad choice. Anything that hardens is good, so gorilla glue would work. Though with gorilla glue, you'd probably need to scrape off any of it that expands (since that's what gorilla glue does...).
I would personally recommend getting some two-part epoxy (I like 5 minute epoxy), as it's great for all sorts of robot stuff, and cheaper by volume than super glue. The stuff you find at the hardware store and even the grocery store is perfectly good. It can also be removed somewhat easily when needed (with a knife and/or dremel).
The stuff I buy comes in packages like this
, though usually costs like half as much...