The document describes the phylum Onychophora, also known as velvet worms, detailing their anatomical features, evolutionary affinities with annelids, arthropods, and mollusks, and their classification. Onychophorans evolved from marine ancestors approximately 520 million years ago and are characterized by soft bodies with un-jointed stumpy legs, simple eyes, and a unique respiratory system. Additionally, the document outlines the fossil history and distribution of Onychophora, noting its significance as a connecting link between different animal phyla.