This paper presents a simulation tool for predicting the self-deployment of an on-board deployable hexapod based on the release of strain energy stored in six tape-spring actuators. Their hysteretic behavior is described by six restoring force models, and a formulation of a direct dynamic model developed with a Lagrangian approach is performed. Furthermore, tensor representation is used to condense and simplify the calculation of Lagrangian partial derivatives. The results are compared with a numerical model that implements the recursive Newton–Euler technique. Finally, the impact of base excitations on the hexapod deployment performances is evaluated by using the proposed restoring force models.