A firm solid base to set the bolt on, is the key. Not how big a hammer you got!
We have a special steel fixture we use, along with a 1/8" punch and a 4 oz ball peen. That's right, 4 ounce.
Most folks try to drill a hole in a 2X4 and lay bolt across it, but wood absorbs too much of the blow and doesn't move the pin. One trick I've heard is balancing bolt on a socket, on concrete floor.