There is no Aristotelian/frictional force that drags things along with expanding space. The motion of objects is governed by
- inertia
- ordinary gravitation, which is an inward acceleration (note: acceleration, not velocity)
- the cosmological constant, which is an outward acceleration (if $Λ>0$)
- nongravitational forces
and nothing else. The reason matter has expanded for most of the universe's history is that it began with outward inertia (for unknown reasons – perhaps related to inflation), and the attractive force of gravity was too small to slow it to a stop. In the present era, attractive gravity has become weak enough that the repulsive $Λ$ force dominates.
If you plop a very long rod (of negligible mass) into this system, in the present era, there will be a net outward force on the ends, so it will be under tension. The result will be the same as if you were tugging on both ends: if the rod is too weak to survive the tension, then it will break; otherwise, it will be slightly longer than it would have been if it weren't under tension, but it won't grow over time (except see below).
If it's an earlier era, before $Λ$ dominance, then there will be a net inward force, and the rod will be under pressure. This is basically the same but with everything negated: either it will break or it will be slightly shorter than if it weren't under pressure.
If you leave the rod for a very long time, the matter responsible for the attractive force will continue to expand and thin, so the attractive force will decrease over time, and the rod will get slightly longer. Eventually, the matter density goes to zero, while the repulsive force remains constant, and that's the longest the rod will ever get (unless it breaks or deforms plastically). The repulsive force over a distance of 1 billion light years, given the measured $Λ$, is an acceleration of under $10^{-10}\text{ m/s}^2$.