Bob was a lifelong resident of Havre De Grace, MD, born on February 25, 1939 to William Aiken Taylor and Marie Helen Mitchell Taylor. He was preceded in death by both his parents and his siblings, William "Billy" Taylor, Helen Preston, Warner Taylor and Charles "Bucky" Taylor.

He is survived by his devoted wife, Nancy "Nan" Erlene Kuykendall Taylor, his three children, Gordon Taylor (Heather), Dee Taylor, and Howard Taylor (Hélène), and his eight cherished grandchildren: Madeline "Maddie", Gabriel "Gabe", Jeremy, Michael, Margot, Lucas (Rayleigh), Jonathan, and Samuel Taylor. Bob was deeply committed to his family and his warm spirit will be sorely missed.

A veteran of the United States Air Force, Bob enlisted on November 5, 1958, and served as a machinist instructor until his discharge on October 2, 1962, achieving the rank of Airman First Class. His career as a machinist at Aberdeen Proving Ground, Building 315, brought many friendships and accomplishments. He ended his career as the supervisor of Building 315 leading both the machinists and the welders. He was skilled in crafting with his hands, known for his woodworking, leather tooling, and his enthusiasm as a leader in the machining field.

In addition to his technical skills, Bob was an active member of the Susquehanna Hose Company, Division 2, since 1968, where he held numerous positions, including Captain, First, and Second Lieutenant. Once he was unable to respond to calls, Bob was very often a presence at the fire house. He enjoyed encouraging, talking to, and visiting with the other firemen. He shared many warm moments with his dear friend Bob Goll, Sr., cooking meals for fellow members at House 2, showcasing his generous heart and dedication to serving his community.

Bob also attended St. Patrick's Catholic Church where he renewed vows with his wife, Nan, on April 3, 2022. His passions extended beyond his work and service; He was an avid gardener sharing his harvest with many. He loved walking around town, taking pictures of sunrises, biking, camping, canoeing, and just sitting to read a favorite book. He was often seen on his front porch taking in all the activity of people going by. He took great joy in crafting two harps for Nan and even produced a CD of her beautiful music. His love of family launched his 4th of July Family reunions at his home to watch the parade and catch up with family and friends. His love for his grill and smoker added delicious pork loin, bbq wings, and beef roast to the menu.

A Public Viewing will be held at Zellman Funeral Home, P.A., on November 9, 2026, from 6:00 - 8:00 PM, to allow family and friends to gather and share memories. A Mass of Christian Burial will follow at St. Patrick's Catholic Church on November 10, 2026, at 11:00 AM, where we will celebrate Bob's life, his kind, warm spirit, and the love he so freely shared.

Robert Mitchell Taylor's legacy of kindness, craftsmanship, and community spirit will continue to inspire all who knew him. He will be forever remembered for the love he gave, the lives he touched, and the memories he leaves behind.

In lieu of flowers, contributions may be made in his memory to Susquehanna Hose Company, Division 2, or St. Patrick's Catholic Church Capital Campaign.