Justin Tipuric will captain Wales for the first time in Sunday's World Cup clash against Uruguay.
Adams, who scored a hat-trick of tries against Fiji, suffered a dead leg during that match but is fit to resume.
Ospreys second-row forward Beard returns to action a month after undergoing appendix surgery that delayed his arrival in Japan.
Wales head coach Warren Gatland has opted for a split of six forwards and two backs on the replacements' bench, with scrum-halves Gareth Davies and Tomos Williams providing back division cover.
Victory for Wales against Uruguay would result in them topping Pool D with four successive wins – their best World Cup group stage performance since 1987.
It would also confirm a quarter-final appointment with Six Nations rivals France in nine days' time.
France finished as runners-up in Pool C following the cancellation of Saturday's game against England due to the approach of Super Typhoon Hagibis.