For ease of reference I provide the link of my current WIP with which I'm havi the current problem.
The core of the problem is integrating a Spline IK solver with the telescopic functionality of the pistons so i can simply grab the head of the crane an position it easily for posing and animation purposes
http://www.scifi-meshes.com/forums/3d-wips/6823-yet-unnamed-cruise-ship-2.html#post124092
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For something like the docking tube I would skip IK completely and just use position constraints to get the telescoping and use a dummy object to get the IK target functionality.
Nice WIP by the way. I always like to see original non-military ships being modeled.
To be honest I haven't much experience with manual constraints and dummy IK targets.
Yup, you're right, teh telescopic funtionality is just for one axis, to extend the arms. for the rest the crane arms themselves have only one axes but the original idea was to integrade rotatable joints (the double discs you see at the end of each piston) but as mentioned this only a small secundary problem.
I would greatly appreciate some concrete help to set this up properly
Disregard my previous post. You are going to want to use HD IK for the sliding parts of that arm. If I have time today at work I'll see if I can do a quick tutorial on setting it up.
That's the general workflow, if you need some more specific help, feel free to ask