You, my friend, are a doormat. Your insecurities are making you do all the work within your group so that no one gets mad at you. And, when faced with the choice of “helping” other groups, you say “no” but feel super guilty about it? Some things to think about:
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you ARE hurting your teammates by doing all the work and letting them off the hook. It reinforces behavior that will bite them and hard either further along in college or in the real world. Stop letting them slide - break up the project into distinct parts, assign roles, set up meetings, and document everything so that you can approach the professor or TA or whoever to show them who really wound up doing the work;
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helping other groups not only probably violates cheating policy, but if you are graded on a curve, WHY would you help the competition? Is it an ego thing - I want to show them how awesome I am by helping them? Stop feeling guilty. It is a wasted emotion in this situation. You have made yourself very clear to us - now do it with them.