Robert N. Zinsius, 90, of Plymouth passed peacefully at home on September 16, 2017 after a long, happy life. He is survived by his children Terri-Lee Zinsius of Plymouth, Scott Zinsius of Kailua, Hawaii, and Lisa Zinsius-Supka of Cotuit. He loved spending his life with his grandchildren Samantha Zinsius-Costa, Jane Zinsius, Nick Zinsius, Ben Zinsius, Zachariah Supka, and Jack Zinsius; daughter in law Lynn Zinsius, and son in law James Supka. Robert graduated from Kingston schools and served proudly in the United States Marine Corps. He married his sweetheart Nancy (Raymond) Zinsius who shared his life for 66 joyful years. A carpenter by trade, Bob enjoyed a lifetime of building homes throughout Kingston, Duxbury, and Plymouth. Upon retirement, he enjoyed planning and working in his many gardens and spending time with his family. Services will be held on Monday 9/25 at 1pm at Mayflower Cemetery, 774 Tremont Street, in Duxbury. In lieu of flowers, donations can be made to Starcreations Theater, PO Box 975, Manomet, MA 02345