We don't need a universal basic income. We might require certain things to be provided to us however, and the cost of some things to be subsidized. Many countries already have universal healthcare. A system to provide food and shelter as well could also be implemented. When you have your basic necessities taken care of, what else do you need? We could still work for things that we want, unless AI takes over literally every single job. We could become a society of mostly artists, artisans, and possibly technicians, at least until the AI's become capable of repairing and overseeing themselves. Or we could end up plugged into The Matrix as parts of a vast hive mind, and rewarded for our processing power. Perhaps with money, or even directly, by manipulating the pleasure centers of our brains. We could end up with sky scrapers of pleasure junkies being used as co-processors for our robot overlords.