If you're going to let the kids get close to the animals like you plan, I would go with the waiver. Only down side is that's putting a lot of extra work (and maybe money) onto you.
If you were to set it up so only one animal would be out at a time, no kids would hold an animal by themselves and only line up to "pet" them, I think you would be OK without a waiver.
I never had to sign anything before we went to reptile exhibits with school and we all got to touch a big 10 ft boa, and when I was teaching I would bring in a corn snake without having to get parent signatures.
Only difference with that is that there was an ISD and a zoo backing the responsible parties. You'll be on your own.
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