actually, the 'ca' in those three words is pronounced 'ka', so the 'ka' kana would be used rather than the 'cha' one. also, your name ends in a 'see' sound, so it would be sii rather than sie, even though sie is the way it's written in normal letters - for the japanese, sie would be pronounced 'see-eh'. same kind of thing with the -ry in henry; it's pronounced 'ree' so it'd be the ri kana, not the ryu one as that would be pronounced 'ryoo'. same goes for the ty- in tyranno which is 'ti'.

and then when you think you've made all changes necessary... foreign names are written in katakana, not hiragana like you did here. ^^;;; so you'd get

タンカリエル - tankarieru
ナサシイ - nasasii
カリタ - carita
オセカル - osekaru
ヘンリイ - henrii
チランノ - tiranno
ヤリエ - yarie
あやの - ayano (native japanese name, hence the hiragana)
ロビン - robin

...and of course, i don't guarantee any of this is correct because i know shit all about japanese, really.