Используйте модуль re (regex) в python с list comprehension
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Example:
df=spark.createDataFrame([('a b','ac','ac','ac','ab')],["i d","id,","i(d","i)k","i%j"])
df.columns
#['i d', 'id,', 'i(d', 'i)k', 'i%j']
import re
#replacing all the special characters using list comprehension
[re.sub('[\)|\(|\s|,|%]','',x) for x in df.columns]
#['id', 'id', 'id', 'ik', 'ij']
df.toDF(*[re.sub('[\)|\(|\s|,|%]','',x) for x in df.columns])
#DataFrame[id: string, id: string, id: string, ik: string, ij: string]