No - but it will be a lot easier - ramps are best if you've got them, its easier to work on with the wheels in their natural state, so theres no tension on the bar/links. Whatever you do make sure you treat both sides equally - ie don't jack up each side in turn to undo it, that will put the bar under a lot of tension which will mean it springs out when you release it.
Are you just replacing the links/rubbers or removing the bar all together?