The Wild Ones — A. Bertram Chandler

They called the robomaid "Clockwork Kitty" until she informed them of her right name. She was a triumph of Japan's far-future robotics industry and she was a present to John Grimes as he set out aboard Sister Sue for a voyage to the planet called New Salem.

New Salem was a colony of blue-nosed religious fanatics and Grimes knew it meant trouble. For in addition to his sexy-looking robot he had Shirl and Darleen aboard, two wild ones of kangaroo ancestry, sure to be problems. And trouble came, not merely from the fire-wielding bigots but from Grimes' old enemy, Drongo Kane.

It's the last interplanetary romp of the legendary spaceman known as science fiction's own "Captain Hornblower".