Advantages of partitioning RAID HDs?
Partitioning a disk for MD RAID duties has some advatanges:
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MBR/GPT partition table serves as a protective layer if/when the disks are installed on a non-linux machine (a partition table is a strong indication the disk was in using in other systems and it may contain valuable data);
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using a slightly smaller partition (versus the entire disk size) ensure that you can replace one failed disk with another 3 TB model even if the latter misses some sectors (ie: it is slightly smaller than the original disk);
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you can dedicate some partitions to a different RAID layout based on the expected data (for example, using RAID0 for swap and scratch data).
For simplicitly sake, if not booting off the RAID array and not needing a swap partition on it, I would probably not use partition for the MD array. This is especially true when using RAID inside a virtual machines, where the underlying disk can be resized by the hypervisor (requiring you to resize the partition table before growing the array).
On the other hands, for a bare metal installation, using a partition table for a RAID array only commands an extremely small overhead/annoyance, so if any of the above points is significant for you, go ahead with partitioning.