What is the difference between Tanha and Upadana?

What is the difference between Tanha and Upadana? Why Buddha did not say Tanha Paccaya Bhava (instead of Upadana Paccaya Bhava)? And there are three kinds of Tanha in Sutta (Kama, Bhava, Vibhava): please explain how these three link to Upadana? --- I read the topic https://buddhism.stackexchange.com/q/17746/254 but that does not answer my question -- I want answers which specifically discuss this in line with three categories of Tanha with Upadana in Dependent Origination. Please give me a practical answer than a technical answer which are found in many places.