I don't know about ancestors, but I would be interested in hearing what the book has to say about the relatives (ancestors, siblings and possibly descendants) of this Robert. I have also run into references to him in some UK records but had never seen details.
I have found a Robert Frampton shipping out of Bristol about 1635 (as master of the ship), and references to a few other Roberts in later years. We also know that my ancestor William Frampton was an agent for a merchant from Bristol in the 1680's. We are trying to connect this William back to somewhere and someone in the UK. Also have a John Frampton in the late 1500's who was probably a well-traveled and educated merchant who translated a number of books on the New World from Spanish into English. There is a (good) chance that this John was an relative/ancestor of William's but no proof of this yet.