Give the old skull crushers one more try...for AJC
I avoided skull crushers like the plague because of my elbows (and lack of a pump when I did them) till someone told me these things. My triceps have grown tremendously since then.
1. Warm your elbows up with 2-3 sets of 20-25 reps with a 10lb plate on each side. This won't give you much of a pump if any at all, but it really warms the elbows up.
2. Even after the warmup sets I have to limit my range of motion, meaning I am careful of how far I let the bar come down. If you let it come down too far, it stresses the tendons in the elbow, thus causing pain. As you get used to doing these, you will notice that you'll be able to let the bar come down further (without pain) over time.
3. Like Roidranger said above, take it slow. Be sure to fight the weight on the way down on each and every rep. Not only is the negative part of the rep a very important stimulus for growth, but controlling the weight on the way down will further help keep you from experiencing elbow problems.