My Crime Is Your Crime

The Joker and Penguin trip up the Dynamic Duo by using each other's modus operandi in their capers. In a shocking twist, the Penguin captures the Caped Crusaders, and shackles them into a batting cage wired to set off a huge explosion if either of them fails to bat any ball pitched by fully-loaded pitching machines!

Some voices:
Batman: Olan Soulé
Robin: Casey Kasem
Narrator & Penguin: Ted Knight (2 years BEFORE "Mary Tyler Moore")
Joker: according to different sources, either Ted Knight as well, or Larry Storch (who received no on-screen voice credit)

TVLand once stated that Olan Soulé voiced Batman on Radio in the 1940's, but this is in dispute. TVLand has been known to make mistakes. We do know that Filmation's voice of Superman in their 1966 cartoons, Bud Collyer, DID voice Superman on Radio in the 40's.