In this paper, Fly robot with electric power, a kind of Unmanned aerial vehicle (UAV), is considered as an autonomous hovering platform, capable of vertical lift-off, landing and stationary hovering. This aircraft has four rotor and DC motors of electrical Power, which is capable of Omni-direction for indoor application. In the earlier days of vertical flight experimentation developers looked at the intuitively easy control functionality of 4 rotor designs. But we need to obtain design method of suitable structures and adequate components because the existing prototypes of 4 rotor-craft don't analyze the propeller, motor characteristic and propose a methodology to optimize this system. In design of propeller, experimental results show that thrust and power are relatively efficient at a pitch angel of 20 degree. To the conclusion, the design method and optimization method of the propeller, motor, frame, Blimp, which are the main design elements of the blimp type 4 rotor craft, were studied to optimize the existing Blimp 4 rotor craft body design method.

ABSTRACT
 1. 서론
 2. Blimp형 4 날개 회전 비행체의 비행 원리
 3. Blimp 4 날개 회전 비행체의 설계
  3.1 날개설계를 위한 공중정지 이론
  3.2 모터 선정(motor selection)
  3.3 프로펠러 설계
  3.4 Blimp 설계
  3.5 프레임
  3.6 Blimp type 4 날개 회전 비행체 설계
 4. 결론
 References

• 이정익(Department of Mechanical Design, Inha Technical Colleg) | Jeong-Ick Lee Corresponding Author