This paper presents the design, development, and preliminary validation of a haptic virtual reality simulator for Shielded Metal Arc Welding (SMAW) at the Pontificia Universidad Católica de Valparaíso, Chile, aimed at enhancing psychomotor training for mechanical engineering students in line with Industry 4.0 demands. The system integrates Unity 3D, a commercial haptic device, and a custom 3D-printed electrode holder replicating the welding booth, enabling interaction through visual, auditory, and tactile feedback. Thirty students with minimal welding experience and seven experts participated in usability and realism assessments. The results showed that 80% of students perceived motor skill improvement, 60% rated realism as adequate, and 90% preferred hybrid training (simulator + workshop). The prototype was practically implemented at the mechanical engineering school, requiring only a mid-range workstation, the Touch haptic device, and the developed software, demonstrating feasibility in real academic settings. The findings indicate potential to build confidence, support motor coordination, and provide a safe, resource-efficient training environment, while experts emphasized the need for automated feedback and improved haptic fidelity. The modular architecture allows scalability, extension to other welding processes, and adaptation for inclusive education. This prototype demonstrates how locally developed immersive technologies can modernize technical education while promoting sustainability, accessibility, and skill readiness.