An hexapod based telescope concept whose legs are deployable has been investigated in order to stow the secondary mirror during launch and to self-deploy it in orbit The main advantages of this concept are: a reduced volume for launch with high reduction of passive stability requirements, mass and inertia reduction inducing an agility gain. The positioning errors are corrected thanks to the vertical displacement of the hexapod feet and the final optical performance is reached thanks to adaptive optics. The paper presents the first steps towards the optimal design of a breadboard and the method developed to model the dynamic behaviour of such a structure with highly deformed flexible elements and validated with the results of sine vibration testing of the hexapod. The following part deals with the evaluation of its deployment and correction capabilities.