There's a fine for doing this, precisely to stop people from doing what you're suggesting. But I think the fine is so small that it's actually worth doing it (rather than having insurance).
For what it's worth, the penalties, as currently planned out, are only 'paid' by capturing tax returns. One could effectively, and legally avoid paying those penalties by changing their tax documents such that no returns are expected, or so that they would owe each year.
The IRS currently cannot demand payment on those penalties, but if you were due $1000 refund, they can withhold the $95 from it. If, however, you owe $10 in taxes, they cannot make you pay $105, as you might otherwise suspect.
If I take a plan for me and my wife, the cheapest plan is 660$, which makes it 7920$ a year.
I also have a child, but I can take a plan just for her, which would be 280$.