Recently, aerodynamic analysis of the helicopter rotor using computational fluid dynamics (CFD) is widely carried out with high accuracy. But, it is very long time to calculate aerodynamic performances and it is difficult to simulate the wake shape of the helicopter rotor using CFD analysis. In this research the time-domain panel method, which uses a numerical technique based on the piecewise constant source and doublet singularities, is applied to the analysis and prediction of the unsteady aerodynamic characteristics of helicopter rotor in a potential flow. And the free wake model is used for wake simulation. The results of present method are compared with the results of experiment of a helicopter rotor in hover and in forward flight. Results show good agreement with the experimental results.