We study the Casimir force acting on a conducting piston with arbitrary cross section. We find the exact solution for a rectangular cross section and the first three terms in the asymptotic expansion for small height to width ratio when the cross section is arbitrary. Though weakened by the presence of the walls, the Casimir force turns out to be always attractive. Claims of repulsive Casimir forces for related configurations, like the cube, are invalidated by cutoff dependence.PACS numbers: 03.65. Sq, 03.70.+k, 42.25.Gy In 1948 Casimir predicted a force between conducting plates due to quantum electromagnetic fluctuations [1]. Casimir forces have now been measured precisely [2], and agree with theory to a few percent accuracy. As miniaturization continues, static friction due to the Casimir attraction between components in microelectromechanical systems (MEMS) has become a problem of increasing concern [3]. Since the Casimir force is strongly geometry dependent[4], the question arises whether it can be made repulsive by arranging conductors appropriately. It has been claimed that the parallelepiped of sides a, b, b has positive Casimir energy for aspect ratio in the range 0.408 < a/b < 3.48 [5,6]. If so, a repulsive force would occur for a/b > 0.785, as a is varied at fixed b.However this example, and indeed all claims of repulsive Casimir forces, require elastic deformations of single bodies (a rectangle or a circle in 2-dimensions, a parallelepiped, a cylinder or a sphere in 3-dimensions, typically) treated as perfect, often infinitely thin conductors. It has been shown that, when the conductors are modeled more realistically, the Casimir energies associated with deformation actually depend strongly on material properties such as the plasma frequency and skin depth [7], and diverge in the perfect metal limit where these cutoffs are ignored. In contrast, the forces between rigid bodies remain finite in that limit. Recently Cavalcanti[8] introduced a modification of the rectangle -the "Casimir piston" -that is demonstrably free of cutoff dependence [9]. The 2-dimensional piston studied in Ref. [8] consists of a single rectangle divided in two by a partition (the "piston"). Cavalcanti calculated the Casimir force on the piston due to fluctuations of a scalar field obeying Dirichlet boundary conditions on all surfaces. He found that the force on the piston is always attractive, although substantially weakened with respect to parallel lines.In this Letter and the coming paper [11] we consider the 3-dimensional piston, for both scalar and electromagnetic (EM) fields. We keep careful track of possible cutoff dependences and show that they cancel for the piston configuration [9]. First we give the exact result for pistons of rectangular cross section, expanding the result in powers of the piston-base separation, a, and identify the terms with specific optical paths [12]. Next we consider pistons of arbitrary cross section, where an expansion for small a can be derived. Finally we show that the force on the piston ...