To assess the sustainability of future development pathways requires models to compute long-run Economy-Energy-Environment scenarios. This paper presents the IMACLIM-R framework, aimed at investigating climate, energy and development inter-related issues. The model was built in an attempt to address three methodological challenges: to incoporate knowledge from economics and engineering sciences, to support the dialogue with and between stakeholders, to produce scenarios with a strong consistency, concerning especially the interplay between development patterns, technology and growth. These goals led to the development of a recursive structure articulating a static general equilibrium framework including innovative features and sectorspecific dynamic modules now concerning energy, transportation and industry. This paper provides the general rationale of the model and the description of all its components.