Arthropods are the oldest phyla of animals and belived to have existed over 600 million years ago. Since that time they have changed dramatically to fit their enviorment.
Arthropods such as insects, centipedes and millipedes are believed to have evolved from ancestors that were closely related to the modern annelids. An example of this is the velvet worm where it has both characteristics of an annelid and an arthropod.
Where as other arthropods such as the crustaceans, spiders, and trilobites evolved from older and distantly related ancestors.
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