Installation for printing and/or coating surfaces of parts, in particular three-dimensional surfaces, this installation essentially comprising: - a part support, capable of receiving and holding a part to be decorated or to be coated and mounted on a displacement device with at least five degrees of freedom, such as, for example, a six-axis robot arm, - inkjet or similar printing means, consisting of at least one print head (6 or 7), - sensor means, capable of measuring parameters of positioning and/or of displacement of the part, in particular displacement speeds and/or positioning coordinates, - possibly, means for drying and/or cross-linking, at least partially, substances sprayed onto the surface of the part to be decorated, - computation, management and control means able and intended to make use of the signals delivered by the sensor means and to control at least the printing means and the displacement device, the printing means, the sensor means and the possible drying means being arranged side-by-side, superposed, on a fixed support structure, such as a plinth, an upright, a gantry or the like, the displacement device and the support structure being disposed mutually facing one another and a spatial reference frame (X, Y, Z) being assigned to said fixed support structure, with a first axis determining the distance between the displacement device and said support structure, a second axis corresponding to the direction of stacking of the printing, sensor and possibly drying means (5, 8, 9) and a third axis at right angles to the two preceding axes (X and Z), wherein the printing means consist of at least two monochromatic or bichromatic print heads that are movable, in rotation and/or in translation, with at least one degree of freedom, said heads (6, 7) being able to be displaced selectively, one by one, to a determined spatial position allowing the printing of the surface of the part, this being done under the control of the computation, management and control means, and in accordance with preprogrammed data, for example a printing program, determining also the displacement of the part relative to the support structure and to the determined spatial position. - a part support, capable of receiving and holding a part to be decorated or to be coated and mounted on a displacement device with at least five degrees of freedom, such as, for example, a six-axis robot arm, - inkjet or similar printing means, consisting of at least one print head (6 or 7), - sensor means, capable of measuring parameters of positioning and/or of displacement of the part, in particular displacement speeds and/or positioning coordinates, - possibly, means for drying and/or cross-linking, at least partially, substances sprayed onto the surface of the part to be decorated, - computation, management and control means able and intended to make use of the signals delivered by the sensor means and to control at least the printing means and the displacement device, the printing means, the sensor means and the possible drying means being arranged side-by-side, superposed, on a fixed support structure, such as a plinth, an upright, a gantry or the like, the displacement device and the support structure being disposed mutually facing one another and a spatial reference frame (X, Y, Z) being assigned to said fixed support structure, with a first axis determining the distance between the displacement device and said support structure, a second axis corresponding to the direction of stacking of the printing, sensor and possibly drying means (5, 8, 9) and a third axis at right angles to the two preceding axes (X and Z), wherein the printing means consist of at least two monochromatic or bichromatic print heads that are movable, in rotation and/or in translation, with at least one degree of freedom, said heads (6, 7) being able to be displaced selectively, one by one, to a determined spatial position allowing the printing of the surface of the part, this being done under the control of the computation, management and control means, and in accordance with preprogrammed data, for example a printing program, determining also the displacement of the part relative to the support structure and to the determined spatial position.