This always (eventually) happens if you use a Lithium battery long enough (and assuming nothing else breaks first).
It also happens prematurely and would be covered by AppleCare / Warranty even if you do everything right in less common circumstances.
To counteract this use newer hardware on iOS 11.3 or higher which have charge management features to optimize for always plugged in situations.
Secondly, the cooler you can keep the battery, the less likely thermal fatigue will accelerate aging and eventual failure, but this expansion or a refusal to charge ultimately happens even if you keep the device permanently cool and properly managed and charged.
The main thing you can control is when the battery discharges and when it charges. A lower wattage charger is probably marginally safer since it will generate less heat when charging since the charge takes longer, so I would possibly consider very lower wattage chargers if you had a fleet of 100 of these and never needed a fast charge and could get away with trickle or low charge rates.
I wouldn’t change anything based on less than 3 or 4 failures since you’ll waste more time and resources swapping out chargers and not get much data in return. Once you’ve seen one iPad get a swollen battery, you’ll know how to gently touch the screen and detect the bulging before it separates the glass and get it in for diagnosis and a spare battery. Your failed unit or iFixit will show where on each screen to test for pressure / contact on the backside of the LCD panel.
I like the idea of powering them down somewhat regularly, but I don’t have evidence that in a population it will make any difference whatsoever. For people that need the battery to work, keeping it used in all ranges of the charge / discharge cycle can probably help marginally - but if you always run on power, it won’t really matter if you have an accurate measure of charge status and could get away with every 6 months draining and wiping and setting them up so you know which are starting to age.