Z,
To repeat Ralph's sentiment: thanks for that! This is all (unfortunately) quite brain frying in a way, and I don't claim to properly understand it yet, so this question may sound quite silly:
I'm confused by the way you have modelled Ralph's ISA-'R' wrt the Panhard bar. On the ISA-'R' portion of your 2 revolutes (RHS of sketch) there doesn't appear to be any effect from the location of the Panhard bar. I would have thought that the Panhard bar link would allow roll but at the expense of providing some level of lateral axle movement (unless we assume that the Panhard bar is located on some frictionless joint at the centre of the 'diff'). i.e. I would think that the ISA-'R' line/revolute would be angled in plan view
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