It's really that simple.
Find a restaurant. Get a group of people to make bookings over a one or two week period, and then coordinate so that everyone doesn't tip.
Leave great reviews online mentioning how it's too bad the employees aren't paid a livable wage.
If this were broadly, and organically done as a grassroot movement then the industry would be forced to change very quickly.
It's really that simple.
No single restaurant could survive unless they have a mandatory tip… which kind of defeats the purpose of tipping.
edit: Don't stop tipping everywhere. Just target one place, do it, then rinse and repeat.