I just wanted to suggest trying to leave your kids a daily "to-do" list. I found talking/asking did not work. Clearly posted "to-do" lists did work. And the first few times I showed them how to do it so that they had a clear understanding of the expected result. (And I gave a consequence for uncompleted work). At first they may balk but who wouldn't!!
With 3 kids, they can take a lot off your plate between them: cleaning up dishes, each vaccuming a few rooms, cleaning their own bathroom, emptying the garbage, dusting, wiping down counters, etc.
And like Andrew, I do tell them that they do need to contribute + relationships are give and take for each side. They should not expect that they do not need to shoulder their fair share as that is not how life works.
Set the expectation and they will follow.
Me 41, H 47, M 15 yrs, S11, S13 BD 1: 11/4/14 we work on it; really I pretzel myself BD 2: 3/31/15 H goes down to "dorm room" 8/15: H back to MBR 10/15: H back in dorm room 1/18: H files, now divorced
