Just had a similar problem when exporting from dataframe to arcgis table and stumbled on a solution from usgs (https://my.usgs.gov/confluence/display/cdi/pandas.DataFrame+to+ArcGIS+Table). In short your problem has a similar solution:
df
A B C
ID
1 NaN 0.2 NaN
2 NaN NaN 0.5
3 NaN 0.2 0.5
4 0.1 0.2 NaN
5 0.1 0.2 0.5
6 0.1 NaN 0.5
7 0.1 NaN NaN
np_data = np.array(np.rec.fromrecords(df.values))
np_names = df.dtypes.index.tolist()
np_data.dtype.names = tuple([name.encode('UTF8') for name in np_names])
np_data
array([( nan, 0.2, nan), ( nan, nan, 0.5), ( nan, 0.2, 0.5),
( 0.1, 0.2, nan), ( 0.1, 0.2, 0.5), ( 0.1, nan, 0.5),
( 0.1, nan, nan)],
dtype=(numpy.record, [('A', '<f8'), ('B', '<f8'), ('C', '<f8')]))