Mantra- Mantra is the naada or the sound
Mantra is invocation,containing a scared syllable or a set of syllables. when a Mantra is uttered with specific rhythm ,with sincerity of devotion and purity of thought and action, and the phonetic and grammatical accuracy, it is believed to invoke a particular deity and compel the deity to assist the invoker to achieve a desired end.
Yantra is the diagram or the picture.
yantra is the use of certain external objects,symbols or some mechanical means to worship the divine. The act of folding of hands in front of the deity is but a kind of yantra only.
Tantra is simply the technique of combine physical diagram or a posture, with the sound.
Tantra is the systematic use of the body and the mind is the physical instruments of divine realisation. The body and mind constitute the lower self and together they aim to indulge in the desire-oriented actions of the lower self to perputuate the interplay of the three gunas namely Sattva,Rajas and Tamas .Tantra must be done under the strict guidance of a master.