Accessible travel in Penzance is easier when you think in terms of the route rather than the headline attraction. The town centre, harbour area and sea-front paths each have their own strengths and compromises.
Before you set out, check whether the places you want to visit can be reached without awkward steps or long detours, and keep a backup plan ready in case the weather changes. That is especially important if you are combining several stops in one day.
A practical accessible day in Penzance is usually the one with fewer transitions and better breaks. When the route is simple, the day becomes far more enjoyable for everyone involved.