The right theory for a basic income should be that all people deserve a stake in the accumulated knowledge and technology of mankind, just as they deserve equal stake in the land and other natural resources. As general advancement accelerates and allows for greater production with less labor, a greater percentage of that wealth ought to be shared with everyone. So in the thought experiment where no one really needs to work and the robots take care of all of our basic needs, eventually distribution of resources should be more or less uniform.
If you view basic income as handouts then you have to answer all of the objections that you'll find in this thread: you're stealing from someone else to pay for them, you're disincentivizing work, etc. Basic income should instead be viewed as arising from principles of fairness.