| 1977 | Rio de Janeiro (BRA) | USSR | China | Brazil |
| 1981 | Colorado Springs (USA) | USSR | Brazil | Korea |
| 1985 | Milan (ITA) | USSR | Italy | Cuba |
| 1987 | Manama (BRN) | Korea | Cuba | USSR |
| 1989 | Athens (GRE) | USSR | Japan | Brazil |
| 1991 | Cairo (EGY) | Bulgaria | Italy | USSR |
| 1993 | Rosario (ARG) | Brazil | Italy | Czechoslovakia |
| 1995 | Johor Bahru (MAS) | Russia | Brazil | Italy |
| 1997 | Manama (BRN) | Poland | Brazil | Russia |
| 1999 | Ubon Ratchathani (THA) | Russia | France | Brazil |
| 2001 | Wroclaw (POL) | Brazil | Russia | Venezuela |
| 2003 | Tehran (IRI) | Poland | Brazil | Bulgaria |
| 2005 | Visakhapatnam (IND) | Russia | Brazil | Cuba |
| 2007 | Casablanca, Rabat (MAR) | Brazil | Russia | Iran |
| 2009 | Pune (IND) | Brazil | Cuba | Argentina |
| 2011 | Rio de Janeiro, Niteroi (BRA) | Russia | Argentina | Serbia |
| 2013 | Ankara, Izmir (TUR) | Russia | Brazil | Italy |
| 2015 | Tijuana, Mexicali (MEX) | Russia | Argentina | China |
| 2017 | Brno, Ceske Budejovice (CZE) | Poland | Cuba | Russia |
| 2019 | Manama (BRN) | Iran | Italy | Brazil |
| 2021 | Sofia (BUL), Cagliari, Carbonia (ITA) | Italy | Russia | Poland |
| 2023 | Manama (BRN) | Iran | Italy | Bulgaria |
