Here's a crappy mockup I made:
Consoles are arranged by release date, with the year added for context. Just add in relevant new hardware when it releases, and remove its predecessor. Red = Nintendo, Blue = Sony, Green = Microsoft.
The interesting thing about this chart is that the PS4 was released 2 years after the 3DS and is only 5 million units behind one of the most popular hand-helds release. PS-Vita must be envious of both PS4 and 3DS :p