I doubt any poor person sees a rich person as a part of their extended social group. The psychological barrier does not exist.
The money is there. The food is there. The shelter is there. It's all there, yet you see individuals suffering left, right and center and even dying. Meanwhile, we can't even get the politicians to provide basic housing, food, healthcare and jobs for society's bottom rung.
Perhaps, the reason you question the use of violence as a solution to this problem is because you feel that there is no other recourse. We've been doing the "democracy" thing for a while, yet we can't get the basics right. Hell, we can't even up and call for a country-wide referendum on basic hotly-debated topics. It's all a circus, and the poor are barely getting enough bread to get by.
[1] http://www.indexmundi.com/world/gdp_per_capita_(ppp).html
There is a game and there are rules of that game, and almost everybody adhere to those rules and play the game, winners or losers. Killing somebody, notably the rich, is a game move, and there are rules about it, like go to jail, don't get the $20,000.
The question you're asking is why don't the poor just stop playing the game? Even rich people realize the game is no fun, and the losers of that game have a hard time, and I guess, some of them wouldn't mind stopping the game.
The thing is that the game is rigged to ensure that you don't realize it's there, and to ensure that you run and run all the time to catch up, without time to stop and think about the game.
Really, the majority in the middle can't take the time to think about it, and they still think they can win! Or if not them, their children. Only a few winners and losers could realize that. The losers, if they realize it, before they die, they can't do anything about it anyways, having to work hard to survive. The winners, they can't du much about it either, even with all their money, because everybody else wants to play the game.
You could hope to try to change it thru education, but now it's obvious that education is rigged to maintain people in ignorance and have them keep running for the game. http://www.amazon.com/John-Taylor-Gatto/e/B001K7S0AE/?_encod...
You could hope to try to change it thru the political system, but now it's obvious that it is rigged by the winners to maintain a winning game for them. http://web.stanford.edu/~gentzkow/research/tv_turnout.pdf http://home.bi.no/fag89001/TV.pdf
As mentionned in another answer, a revolt only lead to the reproduction of the game, with another set of winner (or often just the same), and this arguably comes from the fact that the formal rules are written down by the same set of people designated by the winners, instead of by the people doing the revolt. I'm talking here of the constitutions. So one way would be to educate people to teach them constitution writing so that they could write their own consititution next time they revolt, and not have the same bunch of goonies write it for the ex-winners so they can be the new winners again. But see the problem with education above. On the other hand, here is a little light, with the Internet, people could educate themselves. Learn about true democracy at http://le-message.org/?lang=en and write constitution articles with your friends!
But more than just the consitution and formal rules (laws) aspect to the game, it also exists in an informal way in the mind of people, culturally.
The notions that you have to work to survive, the notion of money (and how it has been transformed in the recent centuries by the banksters), have to be changed. It's true that for a long time scarcity made it rather difficult to envision those changes. And the winners know it, since they are even today sending propaganda about a so called "Earth Overshoot Day" and other bullshit like overpopulation and climate "change", http://www.footprintnetwork.org/ to program deeply into your mind the notion of scarcity.
http://www.amazon.fr/L%C3%AAtre-contre-lavoir-Francis-Cousin...
Instead, people we have to free ourselves from this mind set, learn about alternatives, and prepare for a real "revolution", where we will be able finally to get rid of the psychopaths "winners" of games, and of any "game" that pits man against man. https://www.thevenusproject.com/en/ http://www.thezeitgeistmovement.com/
In the meantime, and pushed very hard by robotization and automation of enterprises, the establishment of a universal income, basic revenue, whatever you name it, should ease the transition and perhaps let us avoid a bloody revolt.
There's also another dimension to take into account, that the poor are actually not in the same country or even the same continent as the rich. Some of those poor, pushed by war (resulting directly or indirectly from the USA and Europe action!), are migrating "refuge" into our countries; thus they are getting closer to the "rich", but most of the time they just start to run to play the game, happy of being already richer or more alive than their cousins they left home. Fighting fewer wars, killing fewer "dictators", and instead having some kind of international cooperation that would transform those countries into something less than us as we are now or were in the past couple of centuries, but instead more like what we'll be in a few centuries, could greatly help with this. Instead of killing a dictator, installing Internet in his country ought to be much more efficient. Instead of accepting the Internet filters of China, India or UK, promiting a free Internet everywhere could make it easier to resolve poverty everywhere.