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鞭蝎（学名：Thelyphonida），蛛形纲之无脊椎动物，有鞭目的统称。此外鞭蝎也被命名为uropygid亦指「尻尾」，是来自古希腊语的οὐροπύγιον （ouropugion）。鞭蝎为卵胎生繁殖，雌鞭蝎据有带卵行为，约有七十余种，身长通常约5公分以下。有一对特化的触肢，类似感觉的器官，前方的螯夹有助于防御、挖掘、撕裂猎物。另外，美国南部以及墨西哥一带亦有体积庞大，可达65毫米的美洲巨鞭蝎(Mastigoproctus giganteus)。

Thelyphonida is an arachnid order comprising invertebrates commonly known as whip scorpions or vinegaroons (also spelled vinegarroons and vinegarones). They are often called uropygids in the scientific community based on an alternative name for the order, Uropygi (which may then also include the order Schizomida). The name "whip scorpion" refers to their resemblance to true scorpions and possession of a whiplike tail. "Vinegaroon" is based on their ability when attacked to discharge an offensive liquid which contains acetic acid, producing a vinegar-like smell.