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While the basic appearance of Daleks have remained the same throughout their history, there have been several changes and alterations from Davros' original design of the Mark Three travel machine. Varriants on the 'basic' Dalek design have been redesigned both by Davros and the Dalek Emperor/Dalek Supreme (these two representing the major power holders in the Dalek heirachy). Both factions of Daleks have in common a Standard Dalek used for basic combat.
Davros' Variants
Early in his design work Davros created Spider Daleks, which walked on a set of spider like legs, rather than gliding accross the ground, these were succeeded by Daleks known as 'Strider Daleks'. (EDA: War of the Daleks)
Following his awakening from cryogenics and an encounter with the Dalek Supreme Davros set up a base of operations on Nekros and began creating Daleks of Human Origin as the name suggests these Dalek variants were created using humans, rather than Kaled mutants. This process also employed a Glass Dalek. (DW: Revelation of the Daleks)
Dalek Emperor / Dalek Supreme variants
The Dalek Emperor and Dalek Supremes were marked out as having several different designs apart from other Daleks, however they also created altered designs under their own command.
Under the command of a Dalek Emperor the Cult of Skaro were created. (DW: Doomsday)
Both Davros and the Dalek Emperor have been known to use Special Weapons Dalek variants in combat situations, Davros utilised one during the Shoreditch Incident whilst the Dalek Emperor utilised several campaigns. (DW: Remembrance of the Daleks, DWM: Fire and Brimstone, EDA: War of the Daleks)
Post-Last Great Time War
Following the Last Great Time War several new Dalek variants were created, both embryos, not technically a variant, but rather an attempt to recreate the original Kaled mutation. (DW: Daleks in Manhattan)
Following Dalek Caan's intervention, a new Supreme Dalek was created, along with Daleks to guard and maintain the Vault. (DW: The Stolen Earth)