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The original Brompton derailleur system is used on 2 speed and 6 speed Brompton folding bicycles (not to be confused with the 4 speed derailleur introduced with the P Line and used on the T Line and 2023 C Line Electric)
This short video gives a basic description of how it works and some simple troubleshooting tips
Clue: Most trouble is dirt related
If you would like more technical detail - let us know, and we can make a more detailed version
The video shows (in summary)
How the chain pusher / derailleur changes gear
Removal of the chain tensioner
Quick clean of the chain tensioner
Removal (in place) and clean of the chain pusher
Limit screw adjustment