How to remove the rear wheel

Removing the rear wheel off a Brompton bike is easier said than done.  The whole gearing system is just so complicated that no ordinary bike mechanic can remove it.  Here, the Brompton website tries to explain (although unsuccessfully) how to remove the rear wheel. 

If you don't get it, don't worry.  You are not alone.

For more information, here is the PDF file: Removing the Rear Wheel

I think the folks at Brompton knew it was difficult to understand it in words, so they made a video:

Even after watching this, I'm still not sure I can pull it off.