Failure of a Yoke Body of Master Slave Manipulator Due to Casting Defect

A cast housing, part of a multi-shaft yoking mechanism, failed during assembly and installation of the equipment in which it was to be used. The housing, or yoke body, was cast from AISI 420 grade ferritic stainless steel. Analysis revealed that the failure was caused by the presence of shrinkage cavities, which lowered the load-bearing capability. The failure occurred at the location where there was an abrupt change in the section thickness. A redesign to provide a smooth contour at the section junction was recommended along with optimization of casting parameters to avoid shrinkage cavities.