I could be you some years ago, fantastic dad (I thought), caring husband (I thought), good friendship between us (that was there, no doubt).
Well, I can tell you that coming out of my "perfect marriage" (sans the love bit) was as if the Sun was coming out again. Once the shock ended, the mourning of the routines was done, and once I realised that I could and actually had been standing on my feet and on my own (for years) without significant trouble... then, I realised about the obvious: Life is not about taking one day at a time, it is about living it full of dreams, hope and hapiness.
Go ahead woman, the children will be hurt, but they will be hurt even more if you stay in a loveless marriage. People that don't love each other end up being bitter to each other, and as it has been said again and again, it is NOT the separation that damages the kids, but the awful environment and quarrels that preceeds it.
As for your lovely husband becoming aggressive at the thought of you wanting to exercise your free will... well, my ex was absolutely lovely... while I was doing everything as he wanted, needed, liked, etc. as soon as he saw me to say a firm "no", he moved quickly from being a passive aggressive person to a openly a bully one.
I have found myself, as a single parent, in many difficult situations. I do have worries I didn't have before, but I'm still doing better than when I was married, before the split I felt I was dying inside, IYKWIM.
I think nobody stays for the children, they stay because they are afraid of change. It takes guts to start afresh, more so if there are children involved.