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Filter the reaction mixture through a medium frit, rinsing with a minimal amount of reaction solvent, then work up. Dicyclohexyl urea is sparingly soluble in most solvents, so this is a good way to get rid of most of it. The rest can be flashed away pretty straightforwardly. If it is too soluble, one can concentrate the reaction mixture first and take it up in ether, then filter and rinse. (contributed by Philippe Rabbat)
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Acetonitrile or carbon tetrachloride are great solvents for DCC coupling, as dicyclohexyl urea is much less soluble there than in DCM or chloroform. You can dissolve the crude product in a small volume of ethyl acetate and put it in the fridge, to precipitate the last bits of the urea (excerpt from Notes on Lousy Reactions)
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If these approaches fail and the compound does tolerate acid, extraction against 6 M HCl can help to get rid of the urea and other common side products (suggested by Valentin Geiger).