| 1977 | Sao Paulo (BRA) | Korea | China | Japan |
| 1981 | Mexico City (MEX) | Korea | Peru | Japan |
| 1985 | Milan (ITA) | Cuba | Japan | China |
| 1987 | Seoul (KOR) | Brazil | Korea | China |
| 1989 | Lima (PER) | Brazil | Cuba | Japan |
| 1991 | Brno (TCH) | USSR | Brazil | Japan |
| 1993 | Brasilia (BRA) | Cuba | Ukraine | Korea |
| 1995 | Bangkok (THA) | China | Brazil | Russia |
| 1997 | Gdansk (POL) | Russia | Italy | China |
| 1999 | Saskatoon (CAN) | Russia | Brazil | Korea |
| 2001 | Santo Domingo (DOM) | Brazil | Korea | China |
| 2003 | Suphan Buri (THA) | Brazil | China | Poland |
| 2005 | Ankara, Istanbul (TUR) | Brazil | Serbia & Montenegro | China |
| 2007 | Nakhon Ratchasima (THA) | Brazil | China | Japan |
| 2009 | Tijuana, Mexicali (MEX) | Germany | Dominican Republic | Brazil |
| 2011 | Lima, Trujillo (PER) | Italy | Brazil | China |
| 2013 | Brno (CZE) | China | Japan | Brazil |
| 2015 | Caguas, Gurabo, Juncos, Maunabo (PUR) | Dominican Republic | Brazil | Italy |
| 2017 | Boca del Rio, Cordoba (MEX) | China | Russia | Japan |
| 2019 | Leon, Aguascalientes (MEX) | Japan | Italy | Serbia |
| 2021 | Rotterdam (NED), Kortrijk (BEL) | Italy | Serbia | Russia |
| 2023 | Aguascalientes, Leon (MEX) | China | Italy | Brazil |
