In the total dev/marketing budget these days, the cost of the downloads isn't that much. If you may realistically rack up the cost to about 500k (and bigger as the installbase grows), in a 20 to 30M budged, that's 1,6-2,5%. But, it's still a cost that the companies would prefer being in their bottom line instead of being out of it, especially when the companies already pay Sony royalties for each game sold.
On the other hand, i do understand Sonys decision completely. SCE isn't making money and you have to get it somewhere.
About the demos hurting the game sales; it depends what kind of game we are talking about. If the game is a new IP that nobody have heard about (and therefore aren't buying it), the demos will likely get people interested and buy the full game, but established IP:s with lots of hype are only going to get hurt by a demo, due to people dissappointing for the game not living up to expectations/hype.
Then another thing is, that the demo has to be designed correctly. You would need to have a demo that tells you as much as possible about the game, but has as little content as possible, so that people don't play the demo instead of the full game (which also becomes a problem when there's loads of demos available).
In any case, the problem with the demos aren't the demos itself, but the audience that the demos are targeted at and the design of the demos.
The audience who wants (and makes use of) the demos, either wants to "preplay" the game they have anticipated or just want to drop out bad games from the list they've been planning on buying.
For the design, by looking at movie demos (trailers) they are not "the first scene" or "the first five minutes" of the movie, but a few picks here and there, that give you the impression of what the movie is about. Why can't games have the kind of demos? Demos shouldn't be designed as separate from other marketing, but to support it.
A proper way to use demos can be found from Nintendo Channels DS demo service. It has demos for the "new audience" or "new audience games", where the IP:s mostly are new "to everyone" or new "to new audience" (ie. the demos come after the game is released). And what i just wrote about DS demos goes only for 1st party releases.