Its in the interest of the kid to help out his parents. Being extra burdensome to the people who are educating you seems like a bad idea.
On a serious note, trying to teach kids by first hand experience culminates in jumping into a pool of crocodiles to learn the danger of predators.
Edward Deci and Richard Ryan developed a branch of psychology called Self-Determination theory which stated that for task-oriented work, monetary rewards serve their purpose. More money = better performance. Of note: in any task that requires even the smallest bit of creative thought, money tended to degrade performance.
Here’s my opinion: if you want your kid to do chores, give him an allowance that is variable based on performance. If you get it right, a lower allowance will have him working harder for a bigger allowance. Likewise, a higher allowance will make him feel rewarded, and appreciated.