Yes and no. A dolphin's penis, when erect, is shaped vaguely like a hook, so when males copulate with females, the chance of them being accidentally separated is eliminated. Think of the penis as a key, and the female's vagina is a lock. It's meant for securing, not necessarily grabbing.
Penises.
Yes, dolphins have penises. Only male dolphins, though.
Their penises are too big
It is said to be prehensile.
Iguanas do not have a prehensile tail.
A prehensile tail.
Baboons and Mandrills do not have prehensile tails. They are large monkeys that spend most of their time on the ground. For that reason, it is not necessary for them to have a prehensile tail.
Yes I imagine that all mammals have penis, but I didn't see the penis of a whale yet. So I don't know what its shape looks like. Moreover I am not a specialist on penises, I care only with my own.
Giraffes
jjk
Prehensile means they have control over it, a spider monkey has a prehensile tail and can use it to cling to branches and things. Prehensile appendages are usually used like we would use our fingers.
The prehensile claw is commonly referred to as a "claw" in many animals, but in specific contexts, such as in some primates like spider monkeys, it can be called a "prehensile grasping limb" or simply a "prehensile digit." This adaptation allows them to grasp and manipulate objects or hang from branches. In other species, like certain reptiles or birds, prehensile structures may have different names based on their function and anatomy.