No, I'm afraid not. Urine production is the way the body gets rid of waste products, things it no longer needs. It does this for a reason as a build-up of certain substances can cause severe damage. That is why people with renal failure need dialysis otherwise they die. If you keep putting these substances back into the body, you will hasten the problems.
Drinking urine may moisten the mouth but that is all. Eventually it will hasten your demise.