How to model a swashplate with 3 actuator inputs on a plate body

[ccgarant]

Hello! Question. How would I go about modeling a swashplate as typically seen on a helicopter, that can rotate about the x and y axis, and translate in the z. There are 3 prismatic actuators that can translate in the z axis respectively, spaced 120 degrees around the plate's x-y plane.

The reason I ask is because I've seen a lot of "linear" D-H Matrix axis, but not a lot of examples of this multi-attachment 3 DOF planar action. Thank you in advance for any help.