You can assign a shortcut key for Whisker menu so that you can launch it without using your mouse. Go to Settings > Settings Manager > Keyboard > Application Shortcuts. Click Add. Now paste/type the following in Command text-box that appears:
Click OK. A pop-up window will appear. Press the key/s that you want to assign to Whisker menu. I press the Super (Windows) key so that I can make Whisker menu appear just by pressing Super key.