Through a design of circular truss deployable antenna model, the primary layout and deployable mechanism and the primary technique requirements are introduced in detail. In order to provide reference for optimization design and predict the dynamic performance of the deployable structure in orbit accurately, deployment dynamic analysis of the structure with friction is essential. The movement property of deployable space truss structure is analyzed with the Moore-Penrose generalized inverse method. A practical mathematic algorithm is presented to formulate the constraint equations and the relevant Jacobian matrices, and to simulate the constraint conditions of the structural deployment effectively. By studying the non-linear action mechanism of the friction during deployment, the dynamic equations of Coulomb friction and viscous friction for the deployable structures are established. Based on the above work, deployment dynamic analysis of circular truss deployable antenna with friction is carried out. The deployment dynamic of a circular truss deployable structure is simulated with friction effects and without friction. The numerical simulations show that the analytical process is efficient for deployment dynamic analysis of circular truss deployable antenna with friction.