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Arthropods form the Phylum Arthropoda.

Their characteristics include:

Segmentation, in the sense of having heads, thoraxes and abdomens or cephalothoraxes and abdomens. Those that are mentioned are just the 'main' segments.

Jointed legs.

An exoskeleton. This is a hard covering, nonpermittive of growth as it is on the outside. Thus it must be shed periodically by ecdysis. Thus arthropods are part of the Ecdysozoa.

Arthropods include millipedes and centipedes (Diplopoda and Chilopoda), insects (Insecta), arachnids (Arachnida) and crustaceans (Crustacea) and sea Spiders (Pycnogonida).

The mouthparts differ between the so called Chelicerata (includes arachnids and sea spiders) and the Mandibulata (includes insects and crustaceans and millipedes and centipedes). The mouthparts are, expectedly from the names, chelicerae and mandibles respectively.

Note that not all six legged arthropods are insects. There are non-insect hexapods as well, such as springtails and silver fish and bristle tails. Crustaceans have 10 or more legs. Arachnids have 8. Millipedes have two pairs of legs per segment and centipedes have one pair of legs per segment.

Phylogeny-wise it appears that insects (the only winged arthropods) are simply winged crustaceans i.e. insects are the most derived of the crustacean-insect clade.

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