We have studied a nearly stoichiometric insulating Y$_{0.97(2)}$Cr$_{0.98(2)}$O$_{3.00(2)}$ single crystal by performing measurements of magnetization, heat capacity, and neutron diffraction. Albeit that the YCrO$_3$ compound behaviors like a soft ferromagnet with a coersive force of $sim$ 0.05 T, there exist strong antiferromagnetic (AFM) interactions between Cr$^{3+}$ spins due to a strongly negative paramagnetic Curie-Weiss temperature, i.e., -433.2(6) K. The coexistence of ferromagnetism and antiferromagnetism may indicate a canted AFM structure. The AFM phase transition occurs at $T_textrm{N} =$ 141.5(1) K, which increases to $T_textrm{N}$(5T) = 144.5(1) K at 5 T. Within the accuracy of the present neuron-diffraction studies, we determine a G-type AFM structure with a propagation vector textbf{k} = (1 1 0) and Cr$^{3+}$ spin directions along the crystallographic emph{c} axis of the orthorhombic structure with space group emph{Pnma} below $T_textrm{N}$. At 12 K, the refined moment size is 2.45(6) $mu_textrm{B}$, $sim$ 82% of the theoretical saturation value 3 $mu_textrm{B}$. The Cr$^{3+}$ spin interactions are probably two-dimensional Ising like within the reciprocal (1 1 0) scattering plane. Below $T_textrm{N}$, the lattice configuration (emph{a}, emph{b}, emph{c}, and emph{V}) deviates largely downward from the Gr$ddot{textrm{u}}$neisen law, displaying an anisotropic magnetostriction effect and a magnetoelastic effect. Especially, the sample contraction upon cooling is enhanced below the AFM transition temperature. There is evidence to suggest that the actual crystalline symmetry of YCrO$_3$ compound is probably lower than the currently assumed one. Additionally, we compared the $t_{2textrm{g}}$ YCrO$_3$ and the $e_textrm{g}$ La$_{7/8}$Sr$_{1/8}$MnO$_3$ single crystals for a further understanding of the reason for the possible symmetry lowering.
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