Jumping is a viable form of locomotion for lunar surface exploration. Due to the lack of research on the coupling between the hopping robot and the lunar surface, it is now difficult to apply the hopping robot to lunar surface detection. Aiming at the load index of the lunar surface detector of 5kPa, a new energy storage leg configuration of a jumping robot was proposed to realize low load jump with variable initial velocity and direction during take-off, and the parameters of energy storage element were optimized to realize near-constant force take-off of the robot, which was verified in a dynamic simulation environment. Intended to jump on the surface of the moon accurately, this paper puts forward a lunar soil mechanical property model considering damping characteristics, builds discrete element simulation environment to determine the mechanical parameters, establishes the jumping dynamics model of the lunar surface robot, and utilizes discrete element dynamics coupling simulation to verify the model accuracy. Based on the dynamic model, two motion planning algorithms are implemented, and the application possibility of the model is verified.