Pneumatic clamp 1, 100, 200, 300 for a stamping press or servo-press with transfer system, of which one or more clamps are configured to clamp a sheet or piece on one end, and wherein the pneumatic clamp 1, 100, 200, 300 comprises: - a first arm 3a and a second arm 3b, adapted to hold the sheet or piece to be stamped between them, and - a support body 4, 4a, 4b which is equipped with an internal cavity where a fluid dynamic cylinder 26 is housed, said cylinder 26 being able to operate the first clamping arm 3a of the pneumatic clamp 1, 100, 200, 300 which is connected and hinged to said support body 4a, 4b, wherein at least the first articulated clamping arm 3a comprises: - an arm element 19 extending in the direction of a longitudinal Y-Y' axis; - a compensating arm 10 attached to the front end of the arm element 19, where the compensating arm 10 is arranged transversely to the Y-Y' axis, and where said compensating arm 10 comprises two through holes 21 separated by a certain distance from each other, equidistant from the Y-Y' axis, one at each end of the compensating arm 10 configured to receive inside it a respective clamping tip 2a, 2b, arranged inside each through hole 21 of the compensating arm 10, each clamping tip 2a, 2b equipped with a fastening system configured to attach each tip 2a, 2b to the compensating arm 10, wherein the clamping tips 2a,2b are equipped with a nut 12a,12b for attaching them to the compensating arm, characterised in that the compensating arm is attached to the front element in a tilting manner and said compensating arm 10 and arm element 19 are connected by means of tilting devices configured in such a way that the compensating arm 10 can be tilted slightly from an X-X' axis transversal to the Y-Y' longitudinal axis; and each clamping tip is equipped with a profiled ball joint slightly protruding from its lower ends; and the connection of the compensating arm 10 and arm element 19 is performed by the means of tilting, and these means of tilting comprise an inner axis 13 arranged inside both holes 22, 18 of the compensating arm 10 and the arm element 19, so that the compensating arm 10 and the arm element 19 are connected through the inner axis 13 and at the same time the inner axis 13 allows the slight rotation between these two pieces 10 or 19 around said inner axis 13, where the tilting movement is limited by the engagement between the flat side walls of the arm element 19 and the socket surface 23 of the compensating arm 10. - a first arm 3a and a second arm 3b, adapted to hold the sheet or piece to be stamped between them, and - a support body 4, 4a, 4b which is equipped with an internal cavity where a fluid dynamic cylinder 26 is housed, said cylinder 26 being able to operate the first clamping arm 3a of the pneumatic clamp 1, 100, 200, 300 which is connected and hinged to said support body 4a, 4b, at least the first articulated clamping arm 3a comprises: - an arm element 19 extending in the direction of a longitudinal Y-Y' axis; - a compensating arm 10 attached to the front end of the arm element 19, where the compensating arm 10 is arranged transversely to the Y-Y' axis, and where said compensating arm 10 comprises two through holes 21 separated by a certain distance from each other, equidistant from the Y-Y' axis, one at each end of the compensating arm 10 configured to receive inside it a respective clamping tip 2a, 2b, arranged inside each through hole 21 of the compensating arm 10, each clamping tip 2a, 2b equipped with a fastening system configured to attach each tip 2a, 2b to the compensating arm 10, wherein the clamping tips 2a,2b are equipped with a nut 12a,12b for attaching them to the compensating arm, - an arm element 19 extending in the direction of a longitudinal Y-Y' axis; - a compensating arm 10 attached to the front end of the arm element 19, where the compensating arm 10 is arranged transversely to the Y-Y' axis, and where said compensating arm 10 comprises two through holes 21 separated by a certain distance from each other, equidistant from the Y-Y' axis, one at each end of the compensating arm 10 configured to receive inside it a respective clamping tip 2a, 2b, arranged inside each through hole 21 of the compensating arm 10, each clamping tip 2a, 2b equipped with a fastening system configured to attach each tip 2a, 2b to the compensating arm 10, wherein the clamping tips 2a,2b are equipped with a nut 12a,12b for attaching them to the compensating arm, characterised in that the compensating arm is attached to the front element in a tilting manner and said compensating arm 10 and arm element 19 are connected by means of tilting devices configured in such a way that the compensating arm 10 can be tilted slightly from an X-X' axis transversal to the Y-Y' longitudinal axis; and each clamping tip is equipped with a profiled ball joint slightly protruding from its lower ends; and the connection of the compensating arm 10 and arm element 19 is performed by the means of tilting, and these means of tilting comprise an inner axis 13 arranged inside both holes 22, 18 of the compensating arm 10 and the arm element 19, so that the compensating arm 10 and the arm element 19 are connected through the inner axis 13 and at the same time the inner axis 13 allows the slight rotation between these two pieces 10 or 19 around said inner axis 13, where the tilting movement is limited by the engagement between the flat side walls of the arm element 19 and the socket surface 23 of the compensating arm 10.