<p>The deployable mast is the most widely used one-dimensional deployable mechanism in spacecraft. Most deployable masts are locked when fully deployed, but automatic repackaging, or retraction, is required for many reasons. To expand the applications, a cable-driven tri-prism deployable and retractable mast (TDRM) is proposed. Based on the conventional structures, using cables instead of springs makes the hinges easier to be controlled and the longeron number of the TDRM is increased to improve the stiffness of the mast. For the proposed structure, the deployment and retraction functions are performed by the cable-driven mechanism. Considering the influence of the viscous friction of the hinge and the sliding friction between the cable and the pulley, the deployment and retraction dynamics of the TDRM are modeled using a Lagrange’s method. A deployment and retraction motion planning method based on force-control is proposed, and the relationships between driving forces and motion are determined and verified by a prototype of the TDRM. Finally, by comparing four cases about the cable threading methods, the optimal threading method is determined.</p>