When should I use a Yoke clamp instead of a bolted clamp?

Yoke clamps have higher allowable loads than a bolted clamp. Secondarily, yoke style clamps are effective in areas where the bottom part of the pipe is in close proximity to structural steel or other pipe components.

Heavy Duty Yoke U Bolt Pipe Clamps Designed For A Pipeline In Canada
Custom Heavy Duty Fig. 43 Yoke U-Bolt Pipe Clamps
Snubbers With Yoke Clamps For A Lng Plant
E-Type Constant Spring and 3-Bolt Pipe Clamp Assembly