Kinematic chains have a variety of applications, taking a fundamental role in many industrial processes. Given the importance of kinematic chains, different techniques for monitoring and maintaining these devices have been documented over the last years. Among those, the analysis of infrared thermal images has proven to be a non-invasive and efficient method for the detection of multiple electromechanical faults. Virtual Reality (VR) is a recent technology that has not been used very often in industrial applications, nonetheless, VR can be an accessible and cheap way to assist in the training and capacitation process of industrial personal on specific engineering topics. This paper presents the design and development of a virtual environment for the detection of seven electromechanical faults in a kinematic chain. The designed VR tool is based on real thermographic data from experiments performed on a real kinematic chain where thermal images were acquired with a low-cost infrared sensor.