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Here's another take on the Firefly crew: They are a future-day retelling of the Robin Hood legend, to wit:
Mal = Robin
Inara = Marion
Zoe = Will Scarlett
Jayne = Little John
Book = Friar Tuck
Wash = Alan-A-Dale
Kaylee = Much, the loyal simpleton (Richard Carpenter version... or, if you prefer, one of Robin's anonymous "Merry Men")
River Tam, in a way, plays much the same role as Carpenter's Herne the Hunter, the mystic guiding force behind Robin or simply as Mal's conscience. Her precog and intuitive abilities have aided the crew in making the right decisions.
Simon could be seen as the embodiment of the "poor and downtrodden," good people struggling to survive, that Mal/Robin is bound to help.
And space, or maybe Serenity itself, is Sherwood Forest, a place where Mal and his crew can live their lives free of Alliance interference.
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