How can i animate сlimbing hero at the ledge of platform?

[Roman_Sword]

I have not complicated 2D game platformer with two levels, with simple platforms
My character can jump, run and fall
I want to teach him to hanging on the ledge on arms (i have sprite to animate this), and to stand up on platform.
Hanging on arms - see picture below.
Please, help me with some advice.

I will add code if you will need to.

In advance, thank for answer.