Every morning before DDs 1 and 2 go to school they are in charge of emptying the dishwasher. One does the top, one the bottom, and DD3 is in charge of the silverware. If they fail to do this job before they go to school here is the consequence:
The dishes from the day can't be put in, so at night, they have to finish emptying the dishwasher and then they load ALL the dishes from the WHOLE DAY - including dinner.
I have to tell you that every morning, the dishwasher is empty - without me nagging. That is a beautiful thing.