I think you'll find that opinions vary. Usually I see trainers recommend picking a weight that you can use for all of your sets. It might depend on the number of sets/reps. For example, right now I'm on a 5x5 program (not one from TT) and I have been stripping weight off by the time I get to the third or fourth set.
One advantage of using the same weight throughout your sets is that you won't waste time changing plates. Not as big a deal if you're using DBs, though.
Also, I'd say that if the weight you used on your first set didn't feel challenging enough, then add weight on your next set. One way to (subjectively) gauge whether it was challenging enough is if you feel like you could only have done one more rep than the actual number of reps prescribed.
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The reason you don't have big arms is because you're weaker than a baby's fart, not because you don't do enough arm curls. -- Tony Gentilcore, via thefitcast.com
[Your] biceps [comprise] just 3 percent of the amount of muscle mass in your entire body. Remember that number: It's a good way to keep a perspective on how much you train your biceps compared with your other muscle groups. -- from menshealth.com
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