Internal taxonomy
The Artiopoda have been considered by many studies to consist of two major clades; one reusing Trilobitomorpha to encompass trilobites, nektaspids, concilitergans and xandarellids, and the other called Vicissicaudata encompassing aglaspidids, xenopods and cheloniellids. Trilobitomorpha is united by the fusing of the posterior sections of the trunk into a pygidium, while Vicissicaudata is united by a differentiated limbless posterior section of the trunk, often with the presence of a tailspine.
A small group, Protosutura, comprising Zhiwenia, Acanthomeridion and Australimicola, has been recognised based on the shared presence of simple sutures on the top (dorsal surface) of the carapace where it splits during ecdysis (moulting), and a short tailspine. This group is often placed basal to the Trilobitomorpha-Vicissicaudata split, alongside other taxa like Squamacula. These relationships are not always recovered. Some studies have recovered Artiopoda as non-monophyletic.
Relationships with other arthropods
The relationship of Artiopoda with the two major clades of modern arthropods, Chelicerata (the group of sea spiders, horseshoe crabs and arachnids such as spiders and scorpions) and Mandibulata (which contains insects, crustaceans, centipedes and millipedes, among others), are unresolved, with some phylogenies recovering Artiopoda as more closely to chelicerates, forming the clade Arachnomorpha, while others recover Artiopoda as more closely related to mandibulates, forming the clade Antennulata. Supporters of a relationship with chelicerates have highlighted shared features of the trunk section, while supporters of the Antennulata hypothesis have noted that the first head appendages of both Artiopoda and Mandibulata are a pair of unbranched antennae (the first head appendages of chelicerates by contrast are the claw or pincer-like chelicerae), which these authors propose is a shared ancestral trait (synapomorphy) of Antennulata.
Some studies place artiopods as stem-group euarthropods, with mandibulates and chelicerates more closely related to each other than either is to Artiopoda, though a majority of studies favour a position within the arthropod crown group for Artiopoda.
Some studies have recovered a close relationship with Marrellomorpha (which like artiopods and mandibulates, have single unbranched antennae as their first head appendages), with the proposed clade including Artiopoda and Marrellomorpha dubbed Lamellipedia, though this relationship is not consistently recovered in analyses. The enigmatic artiopodan-like arthropod Kiisortoqia, which bears large "frontal appendages" has been suggested to be closely related to Artiopoda in some analyses.