Currently, China's manned space docking mechanisms employ mechanical passive energy absorption and buffering techniques, which pose challenges such as complex machinery and significant impact forces during docking, and cannot meet the demands of future manned lunar explorations. A six lead screws grouping control design scheme for docking dynamics, based on differential motion principle, is proposed. The torque output of each screw motors is calculated in real time based on the addition and subtraction of screw motor′s rotation angles in each group, achieving decoupling control of the equivalent mechanical properties of the docking ring in six directions. The simulation results demonstrate that the proposed method can achieve real-time decoupling control of docking dynamics, with flexible and adjustable control parameters. It can accommodate for low impact docking at high closing speeds and also adapt to low-speed capture under diverse docking initiate deviations. This provides a theoretical foundation and technical support for the design of China's new generation of docking mechanisms.