I could not re-parametrize the curve
r[s_] := {-(5 + 2*Cos[2*s])*Sin[3*s], (5 + 2*Cos[2*s])*Cos[3*s],
2*Sin[2*s]}
neither by hand nor with Mathematica. Is there any method else to parametrize the curve with uniform velocity (edit: not velocity, speed) without taking the integral with respect to parameter s?
Thank you.
UPDATE2:
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.49.3151&rep=rep1&type=pdf
http://algorithmist.net/docs/arcparam.pdf
I have not read them all thoroughly but I think this is the solution. I would like to ask a question on Mathematica SE for coding these but I cannot due to the rules of the website. Does anyone know about these methods, how and which one to use?
Thanks.

Your notation is a bit risky, as $s$ usually denotes the curvilinear abscissa. Here I am using $a$ for the latter.
I recommend recasting the problem as a differential equation.
You start from the expression of the curvilinear abscissa $a$ $$\frac{da}{ds}=\sqrt{\left(\frac{dx}{ds}\right)^2+\left(\frac{dy}{ds}\right)^2+\left(\frac{dz}{ds}\right)^2}=\sqrt{x'^2+y'^2+z'^2}$$ and solve for the parameter $s$ as a function of $a$: $$\frac{ds}{da}=\frac1{\sqrt{x'^2+y'^2+z'^2}}.$$ You can integrate with Runge-Kutta.
Alternatively, you can sample points on the curve and approximate by a sequence of line segments or, much better, circular arcs (taking points in triples).
Rectification of the approximating curve is straightforward.