| 1973 | | Oranjestad | Unplaced |
| 1974 | | Oranjestad | Unplaced |
| 1976 | | Oranjestad | Unplaced |
| 1978 | | Oranjestad | Unplaced |
| 1981 | | Barranquilla | Unplaced |
| 1982 | | Cartagena | Unplaced |
| 1983 | | Oranjestad | Unplaced |
| 1984 | | Miami, Florida | Unplaced |
| 1985 | | Lagos | Winner |
| 1989 | | Lagos | Unplaced |
| 1990 | | Lagos | Unplaced |
| 1996 | | Trier | 1st runner-up |
| 1997 | | Freiburg | Unplaced |
| 2001 | | Coburg | 2nd runner-up |
| 2002 | | Fürth | Unplaced |
| 2004 | | Hohhot | 2nd runner-up |
| 2005 | | Huangshan | Unplaced |
| 2006 | | Nassau | Unplaced |
| 2008 | | Zabrze | Unplaced |
| 2010 | | Punta Cana | 3rd runner-up |
| 2011 | | Orihuela | Unplaced |
| 2012 | | Aquisgrán | Semifinalist |
| 2013 | | Magdeburg | Unplaced |
| 2015 | | Magdeburg | Unplaced |
| 2017 | | Hurghada | Quarterfinalist |
| 2018 | | Pasay City | Unplaced |
| 2019 | | Sharm El-Sheikh | Quarterfinalist |
| 2021 | | Sharm El-Sheikh | Unplaced |
| 2022 | | Sharm El-Sheik | Quarterfinalist |
| 2023 | | Sharm El-Sheik | Quarterfinalist |
| 2024 | | Sharm El-Sheik | Unplaced |
