Krillin:
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Krillin is Goku's best friends. He first appears early in the first episodes of the original DB series. He, along with Goku, trained with Master Roshi at a very young age. He has always been faithful to Goku and in the DBZ series he becomes really good friends with Gohan.
Krillin is definitely not one of the stronger characters in the series. As a matter of fact, he's probably the weakest character in the series. But what makes him such a popular character is his comic relief, as he adds a lot of it in the series. He always seeems to be at the wrong place at the wrong time and always pays for it.
Later in the series, Krillin marries android 18 and has a dauther. He also grows hair later in the series (as most know, he's bald throughout most of the series.
Piccolo:
Piccilo first appeared on the scene in the DB series. He first appeared as an evil offspring of the great elder. He was the evil offspring and hated everybody on earth. He later comfronted Goku in the battle tournament and though showed an impressive battle, got dropped.
When the DBZ series started, Piccilo was forced to join Goku to fight Radditz, Goku's brother. Piccilo eventually destroyed Radditz and Goku by accident when using his special attack, makkankosappo. After the battle with Radditz, Piccilo saw potenital in Goku's son, Gohan and wanted to train him. While training Gohan, Piccilo developed a personal frienship for him and when they faught against Nappa and Vegita, Piccilo even sacrificed his life to save Gohan.
Later in the DBZ series, Piccilo becomes good friends with the Z warriors and helps them out a lot. He becomes greater friends with Gohan and Goku. However late in the series, he becomes a minor character and really doesn't serve too much of a role in the series other than training Gotenks and getting dropped by Majin-Buu.
Tienshinhan:
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Tienshinhan is a faithful friend of Goku. He along with Yamcha and Piccilo, appeared in the original DB series. Like Yamcha, Tienshihan is more of a minor character throughout the DBZ series as he plays usually minor roles and doesn't appear much. He does appear to help fight Nappan and Vegita's plant men in the Vegita series. He trys to take on Nappa, but is killed doing so and goes to train with Kaio-Sama on the North Kaio planet.
Tienshinhan later appears in the Cell Game series, where he trains to take on the androids and later goes up against the deadly Cell himself in his stage 2 form. Despite his efforts, Tien couldn't handle Cell as well. He later appeard to help Gohan in the final battle against Perfect Cell but still got manhandled and had to sit down. When the Buu series unfolded, Tien became all but non-existent and kind of faded out as a character.
Yamcha:
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Yamcha first made his appereance in the early DB series. Yamcha was at first the Boy Friend Of Bulma. He is good friends with Tienshinhan and Goku. They faught in the Battle Tournaments of DB and had great battles. Later in the DBZ series, Yamcha began to train with the others to Fight the saiyans Nappa and Vegeta, but like Tienshinhan, Yamcha got dropped and died and went to Kaio-sama to train.
Yamcha is one of the weaker characters in the series. Though he fights couragously, he always finds himself in trouble despite of his training. This is apperant when he tries to take on the androids or when he tries to help Gohan in the final battle against Cell. Like some of the other characters, Yamcha becomes very minor late in the series and does not fight at all anymore. He does stay on the scene to witness the action but doens't try anymore to interfer.
Chaozu:
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In Dragonball Movie 3, he was the young emperor of Mifan. In the series, he was a student of Tsuru-sennin. He and Tenshin-han discovered that their master was evil and abandoned him. While fighting Nappa, Chazu sacrificed himself, trying to kill Nappa, by doing a self-destruct move. Unfortunately, Nappa survived. Therefore, Choazu's death was for nothing. Later, in the fight with Frieza, Chaozu was revived with a wish using the Namek dragonballs. Chaozu fades out as a character after the Frieza Saga.
