Yes. In the case where your server is not connected to the internet you can download the server software and any needed dependencies on a computer that does have access to the Internet and copy it over to the server locally.
You also must make sure that the software required for RStudio to run is installed. Although it may differ based on what packages you currently have installed, you can find the list of known dependencies for common operating systems here: https://support.rstudio.com/hc/en-us/articles/206794537.
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