I actually always imagined this fight playing out similarly to the Joker vs Sweet Tooth Death Battle with Haruka as the Joker and Penny as an, albeit more intelligent, Sweeth Tooth. But that type of fight doesn't really fit the VS Battles Wiki way of doing things, so I'll just give as extensive as an analysis as I can manage.
Weaponry: Haruka has the versatility advantage by a pretty significant margin here, what with her robot companion armed to the teeth with a chainsaw, flamethrower, taser, drills, and claws. Penny's essentially fighting two people here. Penny though has the advantages of her weapons being inherently deadlier and a wider range (her profile says her swords are only several meters but I'm
pretty sure that's false). She's also got the individual beams from the guns outside of the 8-B laser that's restricted. Overall I'd say Penny takes the weaponry advantage in this fight if not solely for the range.
Physical stats: Haruka's AP and dura are double Penny's, and speed is qualized. Not much to delve into here. Although the robot has the same AP and dura so that's also going to be a challenge for Penny to overcome.
Mobility: Believe it or not, they are pretty evenly matched in this area. Penny is pretty nimble herself and her cannons can help her rocket around the area and even fly. But Haruka is also very agile on her own, as she can double jump, run on walls, air dash, etc. Not only that, but her robot can aid her by pulling her out of the way when the situation calls for it.
Special abilities: As always, Aura is a bitch. Not sure how well or even if it protects against status effects, but they're basically what Haruka specializes in. She can throw several vials at a time, all of which have an AoE of several meters when they break, and she has a virtually endless supply of them. She also has her Ninja Arts. DEATHxKISS, in which she blows a kiss and anything caught in a vertical path for several tens of meters instantly freezes, is one of her favorites. There's also
Heart Vibratio which I'll let the video explain, but it should aid greatly in closing the range gap. Finally there's
The World is Mine which creates these sort of rifts that pull targets to them and passively inflict any variety of the status effects listed on her profile. She uses that when she's in a bind, which it could come to. If status effects can bypass Aura, or if Haruka can break through it, all of this stuff is going to give Penny a difficult time. And IIRC breaking through Penny's aura isn't nearly as difficult as breaking someone like Yang's.
Intelligence: Haruka takes this area quite comfortably. Not only is she a scientific genius, but she is a master manipulator, she even managed to coerce the
wisest and most experienced character in the series into revealing her own secret intentions. The fact that Penny is naive isn't doing her any favors. Haruka was able to trick one of the naive characters into stealing the secret scroll from her own faction and giving it to her. Penny may be incredibly skilled in combat, but Haruka's got the intelligence advantage in spades. That all being said I'm not sure how much the silver tongue is allowed to be a factor in VS Battles, so potentially take that bit with a grain of salt.
In the end I feel like Haruka's own mobility and Ninja Arts should help her close the range gap, and the combination of her AP, durability, versatility, intelligence, and two-fighters-at-once advantages should help her seal a victory.