This study explores the clamping-driving coordination mechanism and control strategies for a flexible clamp-type inchworm actuator， introducing an innovative high-speed clamping switching method based on real-time clamping state information. By utilizing the parasitic motion characteristics of the flexible clamping mechanism， the proposed strategy minimizes clamping alternation time， thereby achieving higher driving speeds under identical design parameters. A static model of the parasitic motion of the clamping mechanism was first established based on the actuator's configuration and verified through simulations. The real-time clamping switching mechanism was subsequently analyzed， leading to the development of a driving strategy incorporating real-time clamping state feedback. An experimental setup was constructed to validate the theoretical model and simulation results. Experimental findings demonstrate that the proposed strategy reduces single-step switching time by 28% and increases continuous multi-step driving speed by 25% under the same design and driving voltage conditions. These results confirm the accuracy of the theoretical and simulation analyses within an acceptable margin of error. The proposed strategy significantly reduces the single-cycle operating time of the inchworm actuator， enabling continuous and stable actuation while substantially enhancing driving performance.