Change URL Friendly Logic

Hi everybody,

I need your help to change the URL Friendly logic.
Any idea will be appreciated!

Generally, we have:
https://www.domain.com.br/master-page/child-page/

I would like that the follow sentence, with the same behaviour
https://www.domain.com.br/master-page#child-page

I just have 2 defined master pages to do that.

It is possible to do it via code or htacess?

Thanks!