We report on the model-based development of a monkey robot that is capable of performing continuous brachiation locomotion on swingable rod. as the intermediate step toward studying brachiation on the soft rope or on horizontal ropes with both ends fixed. The work is different from other previous works where the model or the robot swings on fixed bars. The model. https://www.roneverhart.com/Jacksonville-Lever-with-Round-Rose-Omnia-943-00/