No.
My parents have never asked for anything, but I have a feeling it will happen eventually. They are in their late 50's, living paycheck to paycheck, with absolutely no savings, not even a small e-fund. I'm assuming there are no retirement accounts, either. They have had some difficulties in life, but they also have been very irresponsible and sometimes just stupid.
So in 10-20 years, when they realize they can never retire, and their medical bills are mounting (they are both very overweight, eat horribly, don't exercise, and have some chronic health issues already), they might come to me. Or when something happens and they lose their rental home. My dad has lost jobs in the past due to shooting off his mouth and basically being a stubborn asshole; it could happen again, and they have nothing to fall back on. Then again, they don't know I'm frugal by choice, they just think I'm poor, so they might go to my older brother.
Anyway, if they come to me, I would offer to help set up a budget, review expenses, and that kind of thing, and they could potentially stay with me if needed, but I would absolutely not give money.
Perhaps if they had ever been willing to help anyone else, or at least treat people (including their children) fairly, I would think differently. But this is not the case, and I don't believe in rewarding bad behavior. They were physically and emotionally abusive during my entire childhood, made me repay them for what they (unwillingly) spent when I had mental health issues as a teen, etc. They made my life hell and I don't owe them a dime.