Chrome: There are apps with helpful keyboard shortcuts, and then there are old-school text editors like vim. Vimium basically gives every action in Google Chrome a customisable keyboard shortcut, along with remembering your preferred zoom size on a site-by-site basis.
To try and describe all the keyboard offerings of Vimium would be unwise, but they're listed in some detail at the link below. Don't like one of them, or don't like the feeling of vim? You can change every action in the extension's settings, and exclude certain sites from Vimium's effects. Scrolling, tab changing and anything else your mouse can do gets a shortcut, and links on a page can be accessed from a highlighting shortcut system as well. A word of warning, though—this extension looks like it works best on Windows, as I had trouble running it on Linux, and extension comments point at Mac issues.
Vimium is a free download for Chrome browsers. For another keyboard-friendly extension that also covers Firefox, try the previously mentioned GleeBox.