You get what you pay for, and when you go to a restaurant in the United States, you pay for the service as well as the food and drinks. Tipping is part of that experience -- what makes the service in the U.S. superior to other places in the world.
But not everyone agrees with me. An article published by priceonomics makes the case that a restaurant operating on a no-tip policy makes for a better-run establishment. The piece even goes so as far to say tipping is un-American; it does this by using the history of tipping as detailed by an article in the New York Times Magazine: