Aiming　at　the　problems　of　learning　waste　and　computing　waste　that　exist　in　the　cognitive　models　with　fixed　structure,　and　according　to　the　operate　conditioning　learning　characteristics　as　well　as　drawing　on　the　affordance　theory,　a　new　kind　of　sensorimotor　cognitive　model　named　D-SSCM　with　the　developmental　mechanism　is　established　based　on　the　sensorimotor　cognitive　model　with　the　mechanism　of　intrinsic　motivation.　D-SSCM　is　a　fourteen　tuple　in　specific,　including　discrete　learning　time　set,　internal　sensible　discrete　state　set,　optional　motion　set,　effective　output　motion　space　set,　affordance　relationship　set,　optional　motion　space　exploration　rate　set,　developmental　algorithm　and　etc.　In　view　of　D-SSCM＇s　developmental　learning,　extended　developmental　method　and　algorithm　as　well　as　reduced　developmental　method　and　algorithm　are　designed.　Model＇s　developmental　learning　process　is　defined.　Using　two-wheeled　robot　self-balancing　task　to　test　this　designed　model,　results　show　that　D-SSCM　is　with　faster　learning　speed　and　more　stable　learning　effect.　Copyright　©　2021　Acta　Automatica　Sinica.　All　rights　reserved.