An apparatus for pivoting a boom relative to a frame of a pipe handling system between a first position and a second position has a hydraulic actuator assembly connected to the boom and to the skid, and a pneumatic spring connected to the boom and to the skid. The pneumatic spring has a cylinder with an end pivotally connected to the boom, and a piston with an end pivotally connected to the skid. The hydraulic actuator assembly has a cylinder pivotally connected to the skid, and a piston with an end pivotally connected to the boom. The pneumatic spring urges the boom from the first position toward the second position while resisting movement of the boom from the second position toward the second position.