To solve the balancing problems of high speed and high precision, a drive method based on conduction angle adjustment was proposed. The electromechanical coupling model, drive method, and motion mechanism of a V-shaped double-foot-worm motor were studied. Firstly, the electromechanical coupling model of a V-shaped biped inchworm motor was established according to the designed structure of the V-shaped biped inchworm motor. Then, the driving method based on the conduction angle adjustment was determined. Then, the motion mechanism of the V-shaped biped inchworm motor was analyzed. Finally, an experimental platform was built for experimental verification. The experimental results adequately agree with the theoretical derivation within a certain allowable error range, verifying the rationality and feasibility of the driving method. With the introduction of the conduction angle, the minimum step distance is reduced from 500 nm to 300 nm, a reduction of approximately 34%. By adjusting the frequency f and the conduction angle concurrently, the motor achieves a driving speed of 0.5 mm/s and a 330 nm positioning accuracy at the same time. By introducing a variable conduction angle, the motor step distance is successfully realized and the driving speed is adjusted independently.