Lancret helices
  Helical configurations of inhomogeneous symmetric rods with non-constant bending and twisting stiffness are studied within the framework of the Kirchhoff rod model. From the static Kirchhoff equations, we obtain a set of differential equations for the curvature and torsion of the centerline of the rod and the Lancret's theorem is used to find helical solutions. We obtain a free standing helical solution for an inhomogeneous rod whose curvature and torsion depend on the form of variation of the bending coefficient along the rod. These results are obtained for inhomogeneous rods without intrinsic curvature, and for a particular case of intrinsic curvature. 
Alexandre F. da Fonseca, C. P. Malta