You told the chain will put only pulling force on upper teeth of middle sprocket. Can chain be not kept tight so that it also touches bottom teeth of middle sprocket and helps the sprocket more to roll. If the chain can help the middle sprocket from bottom side too it will help the sprocket to roll more. Then may be it might be able to bear 8kg load on its shaft. what do you think ? This option can only be considered if the chain can be kept tight in the whole system. I don't know if the chain can be kept tight or it needs to be some loose to work.
3. Your third option of putting rollers is also used in some applications in industry but I don't want to use it because it will make the design bulky and expensive.
and probably way more reliable is to use gears
Besides gears are much better at power transfer than using a chain.
One thing that isn't addressed in this thread is how the 16 Kg force motor is going to turn two 8 Kg loads as there isn't going to be 100% power transfer..
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