The incentives for wealth redistribution are vary simple. You hand over a fixed percentage of money to the poor and they don't steal from you or end up in prison. The idea being while many poor people will not steal the overhead from those that do is high enough that it's worth a lot.

As to basic income vs. other forms of welfare it's more money directly but far lower overhead. Which means people that are capable of finding productive jobs are adding to the economy vs. varying unemployment information etc. On top of that some people will simply take more risks which has a huge upside vs. unemployment where you can't get the money if your starting up your working for your self so people watch TV vs building an App.

Socially, money is a huge motivator. Most collage educated people could get by working 1/2 what they do but the 20 hour work week or taking 6 months off a year did not take off instead people buy 5$ coffee at Starbucks etc.

PS: And yes the poor can be a lot more disruptive than you might think just look at say the french revolution or any of the communist revolutions.