You can do it this way:
${nome_pai}.equals("")?(${nome_mae}.equals("")?"":${nome_mae}):
${nome_pai}+(${nome_mae}.equals("")?"":" e de "+${nome_mae})
Explaining...
The first part: If the father’s name is empty, we will check whether the mother’s name is empty or not, if it is empty both names as you can see in the condition will not write this part if it has only the mother’s name respectively wrote the mother’s name.
The second part: If the father’s name is not empty, we write the father’s name respectively, and check if it has the mother’s name, if it has not written anything, otherwise we add " e de "
concatenamos with the mother’s name.