I actually think we're at the point where we can start to do this. There's enough wealth to give everyone a living-wage stipend without requiring that they have a job. Enough to cover food, shelter, clothing, and health care so no one ever has to worry about starving or freezing to death, but not enough for a lot of luxuries. To get more, a person needs to work at one of the jobs that automation can't yet do. As automation improves and is capable of taking over more, the line between "necessities" and "luxuries" will shift until, at the extreme when automation can do everything, everything will be classified as "necessity".
There will be people who just don't want to work and are satisfied with the basic stipend. That's fine. I think that most people want to do some sort of job, though. They may not want to the job they have, or may not want to work as much as they currently do, but in general I think people like to have a sense that they're doing something useful. People will find a way to make some luxury money with their hobbies and by doing the things they like to do.
But who will do the dirty work? Who will be the garbage collectors, the janitors, etc? I have a feeling that the current wage structure will be turned on its head. If no one has to do the dirty, dangerous jobs in order to eat we'll have to increase the wages to create the incentive. The person who cleans the toilets might end up getting paid more than the middle manager in the cushy office. This extremely socialist society might finally achieve the free-market ideal in the labor market by giving everyone the ability to say, "Screw it. I'm not getting paid enough for this bullshit."
Yeah, the devil's in the details. This scheme has a hell of a lot of details to work out, and even in the best case I can't see any politically feasible way to get from here to there. I anticipate that we're going to have a very nasty time of it as the pool of workers grows and the pool of jobs shrinks, until the culture grows out of the "Why should I work to pay for them to be lazy?" mentality.