Given the steps you have taken to keep your machine cool, it certainly seems there is something else going on, e.g. blocked airflow. Opening the case could potentially void your warranty, yes. I'm not sure about Apple's policy on use in "dusty" environments, but you might visit a Genius bar (if there's an Apple Store close by) and let them take a look at the computer.
I don't see that applying a vacuum to the vents would harm anything, but it might not help. As you can see from
this iFixit.com image (probably quite obvious, but the fan is the round silver object at the top right; there's another top left behind the hand), debris blocking the fan might not be accessible to the vents at the back/clutch area.
Hope this helps...