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You could make a somewhat cimpler crane actually because the tractor already has hydraulics so you wouldn't need the lift cylinder of the HF unit.
Something more like this one perhaps.
http://www.northerntool.com/shop/tools/product_200326164_200326164
Something more like this one perhaps.
http://www.northerntool.com/shop/tools/product_200326164_200326164