We proposed a new type of undulator based on bulk high-T-c superconductors (HTSC) which consists of a single solenoid and a stacked array of bulk HTSC. The main advantage of this configuration is that a mechanical structure is not required to produce and control the undulator field. In order to perform a proof of principle experiment, we have developed a prototype of bulk HTSC staggered array undulator using 11 pairs of DyBaCuO bulk superconductors and a normal conducting solenoid. Experimental results obtained by using the prototype undulator and numerical results obtained by a loop current model based on the Bean mode for a type-II superconductor were compared.