I think we need a FAQ (pinned post?) which explains all this in some very understandable-for-layman way.
Here's my attempt.
The "ordinary Big Bang and expansion" (no inflation, no dark energy):
Einstein's GR allows a solution (FLRW metric) where an empty Universe expands. Imagine that you have particles (say, hydrogen atoms) in a cubic grid with exactly 1 light year between nearest particles. (We assume that they weigh so little that this Universe is essentially behaves as if it is empty). And after each second distance between each particle increases by 1 meter. Not because they move, but because space "grows". That's that solution.
Even though empty Universe is expanding without slowing (distance between test particles grow by exactly one meter per sec), note that if you look back into the past of this Universe there were times when test particles were much closer together - say, only a billion km apart - and they moved away at exactly one meter per sec too. It's clear there was a moment where they had to be zero meters apart. That's "Big Bang" moment. The moment itself is problematic (singularity!), but any moment after that is not. For example, one microsecond after it test particles were 1 microsecond apart. It's a bit curious that in this scenario expansion seems to be very fast at first ("density" of test particles falls very quickly), and millions of years later, it looks very gradual, but expansion speed is in fact constant!
Now, if you use GR with Λ > 0, the picture changes. Grid of test particles grows not by exactly one meter per sec! Now it grows faster with time. If Λ is very small, at first speedup is not noticeable, but later it will be: test particles will not only move away from each other, they will seemingly do that faster with time.
That's one possibility what dark energy is - maybe it's just Λ. However GR with Λ = 0 but with some other field permeating all space and having appropriate property (negative pressure) will have exactly the same behavior.
How presence of matter changes this? FLRW metric with homogeneous distribution of matter will expand too, but expansion will slow down. (Heuristically, "matter will attract itself and try to shrink the Universe"). If there are lots of matter, expansion speed can even go to zero and start going backwards. Between "too little matter, eternal expansion with nonzero speed" and "too much matter, expansion stops" there is a borderline case where expansion never stops, but its speed falls ever lower, tending to zero with time, but never reaching it (that's "critical density Universe"). This all was about "normal" matter, with positive pressure. With "negative pressure matter" it's effect is opposite - this was already describe in the previous paragraph - that's "dark energy".
And finally, what if dark energy field is variable (e.g. it has several possible stable values) and one of these value is large (or there may be several such fields)? Alternatively, what if Λ can not only be larger than zero, but can be VERY MUCH larger than zero? Nothing unusual will happen, the Universe will behave as described above: grid of test particles grows faster with time. Very, very much faster. That's inflation. (If you have a separate "big dark energy field" for it, that's "inflaton field").
If you have inflationary Universe, even with matter, it expands astoundingly quickly, essentially becoming empty. And if then suddenly Λ (or dark energy) goes down to a very small value, you get an empty symmetrical flat expanding Universe. If "Λ going down" releases energy (in a form of appearance of new particles everywhere), you get a NON-empty symmetrical flat expanding Universe.