This paper presents the concept and integrated modeling analysis of a novel mechanism, a 3-CPS/RPPS (Cylindrical- Prismatic-Spherical/Rotational-Prismatic-Prismatic-Spherical) hexapod, proposed for supporting segmented reflectors for radio telescopes and eventually segmented mirrors of optical telescopes. The concept comprises a novel type of hexapod with an original organization of actuators hence degrees of freedom, based on a swaying arm based design concept. Afterwards, with specially designed connecting joints between panels/segments, an iso-static master-slave active surface concept can be achieved for any triangular and/or hexagonal panel/segment pattern. The integrated modeling comprises all the multifold sizing and performance aspects which must be evaluated concurrently in order to optimize and validate the design and the configuration. In particular, comprehensive investigation of kinematic behavior, dynamic analysis, wave-front error and sensitivity analysis are carried out, where, frequently used tools like MATLAB/SimMechanics, CALFEM and ANSYS are used. Some experimental verifications already performed validating single aspects of the integrated concept are also presented with the results obtained.