You didn't specify the type of pop-up, and this is probably NOT what you're looking for, but for the sake of completeness, here's a good photo for you:
The top is a Reimo hinge for a VW Westfalia style pop-up. The bottom is a similar hinge from another company.
These are called "
6-bar linkages", a standard mechanism. They can be configured a couple of ways, but in this arrangement, they create a motion that simulates the arc of a regular pivot hinge where the pivot point is some distance removed from the mechanism.
In other words, these act like a regular hinge, except the imaginary pin of the hinge would be ~3ft back from the end of the vehicle. The net effect is that both ends of the top-bar sweep the same arc, and you get some lift at the hinge-end, instead of solely at the far end. This translates to usable foot room, at least!
These mechanisms aren't trivial to setup - you wouldn't want to try to freehand one as they will easily bind if the linkage lengths aren't all correct. That said, aside from the critical tolerances of the link design, they're a fairly simple construction.
As far as lifting goes - many users of this mechanism have gas-springs to assist with lifting. The first 10" or so of raising the top requires effort, after that the top goes up automatically. Many designs (mine included) use only the gas-springs to keep the top up. Westfalias use a locking "H-Bar" to keep the top locked in the up position (and this mechanism I think is also used to provide leverage while raising the top).