Abstract: In order to realize the automatic flexible docking of spacecraft cabins, a method based on 6SPS is studied. The 6SPS parallel platform is chosen as the adjustment mechanism, force sensors are placed on each kinematic chain to measure the axial forces. For the flexible force control, the axial force caused by the load on the kinematic chain is calculated from the mass property of the load and the attitude of the parallel platform, which is used as the theoretical force. By comparing the axial force from the sensor with the theoretical force, and adjusting the length of the kinematic chain, the flexible docking is realized. The experiment results show that the parallel platform can be adjusted according to the axial force of the kinematic chain with the method, and with the method, the requirements for the flexible docking of spacecraft cabins can be met.