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A novel design concept, together with the key components, is developed in detail for an extendable/retractable space mast. It is based on a three-dimensional linkage with triangular cross section that is deployed and stiffened by two sets of cables: passive and active cables. The active cables, whose overall length is controlled by a micro-dc motor, sequentially control the deployment. The fundamental structural dynamic performance is investigated briefly. In particular, a dynamic deployment simulation algorithm is developed in terms of the Cartesian coordinate of the idealized pinned-joint. Accordingly, a 1:2 scaled hi-tech model mast has been built to verify the design conceptions and analytical method. Finally, some suggestions to improve the design and conclusions derived from the deployment experiment results are presented.