Title: MazinSaga Mutant Fighter (US) Mazin Saga マジンサーガ (JP), Mazin Wars (EU)
Release date: 02/25/1993
CompanIES: Almanic Corp. / Vic Tokai
This review explains the gameplay pretty well. It's based on the MazinSaga manga by Go Nagai, not the Tranzor Z series (American dub of Mazinger Z) that some youtube users are saying.