Thanks all for the "tips". I especially like your advice Don, as it sounds like the best approach for slipping them over the ends. Lubricating with Varsol is probably a better option than silicone spray that I was contemplating using, because with the silicone it would leave a residue that could make the piece permanently loose. The P-80 product that Ron mentioned looks like a better alternative (except I would have to obtain some), as it would "glue" the rubber in place. I wonder if instead a bit of automotive goop or silicone caulking would work in the same way to initially lubricate and then glue.
I'll have to wait a while for a warm day around here, or else maybe I'll try applying a bit of heat with a heat-gun. I also think I'll try using a dab of silicone caulking, as I'm pretty sure I already have some of that in my shop.