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Jumpin said:

Metroid Prime is a series, Mario and Zelda are a franchise. When Nintendo has a series of Mario games they do number them - Super Mario Bros 1, 2, 3; Super Mario Galaxy 1 and 2; New Super Mario Bros 1 and 2. 

But there's no point for making other games  than fps (Prime) with the franchise. They have enough platformers so that's how this series is going to look like for the next 10 years.