Objective Obtain a more suitable puncture method for the venipuncture robot through experimental research. Methods By using different puncture speeds and angles for the biomimetic tissues, the mechanics-time curves of various puncture methods can be obtained. Results Through experimental research and mechanical model analysis, it is found that with the increase of the puncture angle during the puncture process, the smaller the puncture force required, the faster the puncture speed, the greater the puncture force. Conclusions The puncture angle of 40°-45° and the puncture speed of 300mm/min-120mm/min should be adopted in the design of the puncture method of venipuncture robot.