Objective To obtain a more suitable puncture method for venipuncture robot through experiments.Methods By using different puncture speeds and angles for biomimetic materials, the force-time curves by various puncture methods were obtained. Results During puncture process, with the increase of the puncture angle, a smaller puncture force was required. The faster puncture speed would lead to a larger puncture force. Conclusions The 40°-45° puncture angleand the 120-300 mm/min puncture speed should be used for designing the puncture method of venipuncture robot. The results provide references for selecting the puncture angle and speed of the venipuncture robot.