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Name: Goku
Race: Saiyan
Abilities: Fly, Dragon Fist, Fusion, Spirit Bomb, Jan-Ken Punch, Kaioken, Kamehameha, Kiaiho, Oozaru, Renzoku Energy Dan, Shunkanido, Solar Flare, Zanzoken

His real name is Kakaroto. He discovered that from his brother Raditz which is also the first time he learned that he is a Saiyajin.
Not only is he a great warrior, but also a spectacular leader. Throughout the entire series, he had inspired many, including both of his sons, Gohan and Goten and especially Vegeta. He is a diligent and hardworking person who would never fail to take on new challenges. Even though he had became the most powerful warrior in the universe by defeating Freeza, he still strive to become better. After Future Trunks had foretold the arrival of the cyborgs and Dr. Gero. He could have opted for the easy path by getting to Dr. Gero before the cyborgs were created, but he chose to challenge himself instead by preparing for their arrival.
Goku¡¦s unfaltering spirit and confidence is remarkable. After he forfeited the battle against Cell, no one, not even Gohan himself had the confidence to defeat Cell. Goku was the only one who had confidence in Gohan and followed through all the way to the end, even after Gohan was seriously injured and lost the will to fight. He never quits under any circumstance. Even after everyone gave up, his mind never stopped looking for solutions. Seconds before Cell was about to explode and destroy Earth, Goku realized he could teleport Cell to another location.
His leadership and inspiration was proved pivotal as Future Trunks unveiled the grim story of his time where Goku died of a rare heart disease and everyone except for Trunks were killed. The most tragic of all was that Gohan¡¦s tremendous talent was never realized as he died under the hands of #17.
After the Dragon Ball Warriors initial encounter with #17 and #18 and subsequently Cell, Goku realized that he must transcend the Super Saiyajin to stand a chance against the cyborgs. Under his guidance, an intensive training program in the "Time Room" was launched. During that time, he trained Gohan for the first time and fully unleashed Gohan's potential.
The one person he had inspired most throughout the series was Vegeta. Vegeta entered the story as as an evil individual who would find any means necessary to satisfy his hunger for power who was also too proud to accept defeat. Through Goku¡¦s inspiration, Vegeta slowly transformed into a good hearted person who accepted himself. During Goku¡¦s final battle with Majin Buu, he openly accepted that he was no match for neither Buu nor Goku and willing to participate in the sidelines (by gathering energy for Goku¡¦s final strike) rather than the actual fight.

Name: Gohan
Race: Human/Saiyan
Abilities: Fly, Kamehameha, Masenko, Oozaru, Renzoku Energy Dan, Zanzoken

He is the first child of Son Goku. Named after Goku's adopted grandfather, his tremendous talent and power was readily apparent in his childhood. In the battle against Raditz, Gohan's horrifying power substantially injured him, assisting both Piccolo and Goku.
As Piccolo said, he was too pampered by his parents in the early ages to even realize his talent. Piccolo decided to start training him by leaving him in an island for six months to learn independence before teaching him anything at all. After one year of training, Gohan became a much more independent and strong in character.
Even though Gohan became more independent, he still lacked the kind of confidence that his father had, which was evident when he fled from where he was supposed to attack Nappa in his first battle against the Saiyajins. His lack of confidence persisted even after he became the most powerful warrior (Super Gohan) in the epic battle against Cell. During the "Kame Hame Ha" final confrontation between the two of them, Gohan was about to give up the battle. During that time, his father had more confidence in him then he did himself as Goku motivated Gohan to unleash his full potential to completely destroy Cell.
Because his mother had always wanted him to be a scholar, Gohan has a dilemma between fighting and studying, even though he is equally assiduous in both. Because of the constant invasion of "evil," Gohan focused on fighting. However, he finally got the opportunity to become a scholar after Buu was defeated and realized his mother's wishes.

Name: Piccolo
Race: Namekian
Abilities: Fly, Chonoryoku, Energy Dan, Eye Lazers, Kakusanyudokodan, Kyodaika, Makankosappo, Regeneration, Renzoku Energy Dan, Merging, Shogekiha, Tsuihidan, Zanzoken

He is one of the characters who was originally "evil", but through series of unexpected events, the "evil" in him was slowly washed away as Piccolo took different forms.
Piccolo is the offspring of Daimon, who was the pure "evil" which separated from Kami-sama as another body. Piccolo and Kami-sama is one person in two bodies. If one of them die, both will die.
When Daimon was killed by Son Goku, he vowed that his offspring Piccolo will avenge him. Thus, Piccolo's character is not just pure "evil" the way Daimon is. He is simply focused on destroying Son Goku. The two of them first met in the Budokai.
Because of the arrival of Raditz, Piccolo found himself an unwilling partner of Son Goku and together defeated Raditz. When he learned that two more poweful Saiyajin will avenge Raditz, Piccolo only found himself even more unwillingly on Goku's side by volunteering to train his Son, Gohan to become a warrior to fight against the Saiyajin.
Piccolo's militant training style made Gohan a stronger person, gradually unleashing Gohan's tremendous talent. During the time he spent with Gohan, Piccolo began to develop love and care for Gohan, which was fully realized when he sacrificed his life for Gohan in the battle against Nappa. His love and care for Gohan is readily apparent throughout the Freeza and Cell series.

Name: Krillin
Race: Human
Abilities: Fly, Double Tsuihikidan, Fusenko, Fusion, Kakusandan, Kamehameha, Destructo Disk, Shishin No Ken, Solar Flare, Zanzoken

He is perhaps one of Son Goku's longest and best friends in the entire series. They have been through the thick and thin from Kamesennin's rigorous training to the Budokai. His significance has also faded as the story moved deeper into the Z series in a Super Saiyajin dominated world.

Name: Yamcha
Race: Human
Abilities: Fly, Kamehameha, Rogafufuken, Sokidan

Yamcha is one of the few human fighters in DragonBall Z. He is usually accompanied by a little, flying cat named Puar and is a longtime friend and ally of Goku. Bulma has a big crust on him and wants to marry him, but Bulma's dream of marrying him was shattered when Yamcha was killed by one of the Saibamen that Vegeta and Nappa created. But later the DragonBall Z crew was sent off to the planet Namek to gather dragonballs so that they can wish all the people killed by Vegeta and Nappa. When they did, they finally wished everyone back including Yamcha and Bulma once again fell in love, but later on in the dragonball series, Bulma thinks that Yamcha is too much of a flirt and can't be loyal to her. Although he is not cheating on her, he gets caught by her in awkward situations so they break up. She then falls in love with Vegeta seeing how he is lonely. Vegeta is at first reluctant but eventually does become a family man and good hearted.

Name: Tien
Race: Human (Eternal Child)
Abilities: Fly, Dodonpa, Kamehameha, Kiai, Kikoho, Mafuba, Shiyoken, Solar Flare, Zanzoken

Tien has three eyes as you can see from the picture, but only two of them work, I don't know what the third one is for. Tien was originally trained as an assassin under one of Master Roshi's rivals. But after a while, he realized that he did not want to be an assassin and join the Z fighters along with his best friend, Chaiotzu.

Name: Chiaotzu
Race: Unknown
Abilities: Fly, Chonoryoku, Dodonpa

Not much information about this little white guy except that he's Tien's best friend and they usually fight together in battles. One of the battles they fought together was when Chiaotzu and Tien fought against the saiyans named Vegeta and Nappa. Chiaotzu threw himself on Nappa's back and self-destruct hoping to kill Nappa in the process, but it didn't work and he killed himself. Later he was wished back by the dragonballs.

Name: Yajirobe
Race: Human
Abilities: Cuts things with his sword, Eats

Yajirobe is a good guy who eats a lot of food. He doesn't fight as much as others, in fact, he doesn't really fight at all. But when others really need him, he comes through and forces himself to save them.

Name: Vegeta
Race: Saiyan
Abilities: Big Bang Attack, Fly, Fusion, Galet Gun, Destructo Disk, Oozaru, Zanzoken

Even though he is evil at heart, Vegeta is perhaps one of the most strong-willed characters in the series. Like Son Goku, he is extremely industrious, constantly striving to be better, but different purposes drove Vegeta's spirit. Goku fought to defend the lives and others and to challenge his limitations while Vegeta fought to satiate his bloodthirsty appetite and die hard pride, which is unwilling to accept defeat. This gradually changes throughout the series.
The primary driver of his will is Son Goku. Vegeta's defeat in his first encounter with Goku and his unwillingness to accept Goku being more powerful had constantly fuelled his strong will to continue to train himself. After seeing Goku turn into Super Saiyajin and defeating Freeza, he grew even more jealous of Goku achievements and immersed himself in intensive training. After much sweat and frustration, he finally became Super Saiyajin. He only enjoyed a fleeting moment of pride in destroying #20, before being defeated by #18.
Vegeta first catharsis occurred during Son Gohan battle with Cell. Because of his rash decision to attack Cell when he did not have the power to, had caused Gohan arm to be seriously injured when Gohan saved his life. Not only was he not even close to Cell ability, but also served as a hindrance to Gohan. That was the first time Vegeta accepted his incapabilities by making an apology to Gohan.
By the time Majin Buu appeared, what used to be a cold-hearted Vegeta changed. Right before he proceeded to sacrifice his life in an attempt to destroy Buu, he told Trunks that he cared about him and how he felt bad about giving Trunks much less attention then Trunks deserved.
During Son Goku's final battle with Majin Buu, Vegeta goes through a complete catharsis. He realized that Goku's pure and kind heart gave Goku the power that Vegeta never had. He finally realizes that the good ultimately prevails.

Name: Trunks
Race: Human/Saiyan
Abilities: Fly, Burning Attack, Finish Buster, Fusion, Kamehameha, Masenko, Renzoku Energy Dan, Zanzoken

Trunks is the son of Vegeta and Bulma, which is very odd since they have nothing at all in common. He first appeared when he went back in time to warn Goku and the Z Fighters about the Androids. When he went back in time, he met Frieza, which was in the process of destroying the Earth, but Trunks turned into a Super Saiyan and kill Frieza and King Cold (Frieza's father) without effort. This amazed the Z Fighters while they watched, but they never knew his name or who he was because it might prevent Bulma and Vegeta from having Trunks. He talked to Goku about the Androids and gave him a medicine that will help him cure the heart disease that he is going to get. More about him can be read in the Sagas.

Name: Dende
Race: Namekian
Abilities: Fly, Heal

Dende is from planet Namek. Gohan and Krillin first met him while they were looking for the dragonballs on Namek. Dende has a large part in the Dragonball series and possesses healing power that were used during the fight of Frieza. He later replaces Kami as the guardian of the dragonballs on Earth.

Name: Nail
Race: Namekian
Abilities: Basically the same as Piccolo

Nail is from the planet Namek and the is guardian of the Namek's eldest namek named Guru. He was later forced to fuse with piccolo after Frieza weaken him in a battle. Both Piccolo and nail fought against Frieza with increadible power.